Using cartographer for remapping

[mus...@avidbots.com]

Hello,

I would like to use cartographer for remapping an environment.  Basically, I use an initial map and amcl to localize my robot in the environment and I just want cartographer's map builder to update this initial map.  Therefore, I don't need its full SLAM capability but only its map building capability.  Currently I am using the CostMap2DRos class for this but it implements a binary map building technique and therefore people walking in the opposite direction of the robot cause ghost obstacles to be added to the map.  From the demos I ran, cartographer's eliminates dynamic obstacles (e.g people) from its map because it seems to be using a probabilistic map.  Any advice on integrating Cartographer's map builder into my ROS system would be appreciated. 

Mustafa

[Damon Kohler]

You may be interested in https://github.com/googlecartographer/cartographer_ros/pull/151

It added support for multiple consecutive trajectories. It does not (yet) support loading a serialized map from disk to start localizing. Localization using Cartographer's multi-trajectory support will give you better results and build a more consistent map in the end.

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