map_merge: Make it compatible with Slam_toolbox
Opened this issue · 2 comments
charlielito commented
The original code in ROS1 was written to be compatible with slam_gmapping or hector_slam, which AFAIK publish a map of a fixed size. In ROS2 the facto slam choice is slam_toolbox, which publishes the map as it grows changing its size, but this doesn't work with the map merging algorithm in this package.
A more dive deep into the code is needed but I think the solution can be to pad all maps to the biggest map among received maps and then just apply the existing algorithm
charlielito commented
See this repo which kind of solved the issue but in ros1: https://github.com/gingineer95/Multi-Robot-Exploration-and-Map-Merging
https://github.com/gingineer95/Multi-Robot-Exploration-and-Map-Merging/blob/main/src/map_expansion.cpp