Map reusing

[Ismael Gimenez]

Hi Bernd,

May I know if maps can be reused? Like map one time and load that map later on so that I don't have to map everytime. If it can be done, how would it be done?

Thank you in advance.

[Bernd Pfrommer]

If you want to reuse the map:

- first do a mapping run, i.e. travel along the full path and try to get a good view of all tags such that their poses are well established

- at the end of the run, do a rosservice call to tagslam's "dump" service (see online instructions). This will write a file called "poses.yaml" under ~/.ros/

- copy the tag poses from poses.yaml to  tagslam.yaml before the next run.

[Ismael Gimenez]

Ok, thank you Bernd.