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Okay,

I have tried this. In fact it was the first method I used. When I run map_saver I get the yaml file and the image. When I run the map_server I get the map.

WHEN I RUN AMCL it will not localize at the starting point of my map, in fact it starts its own map elsewhere on the map in rviz. AMCL is not working for me at all. Gmapping's localizer does work.

I need to know if I can use move_base service "make_plan" with gmapping. I currently manually transfer the current position and the destination position into the map coordinates. I have to do this step because the /map coordinate may change at any time.

It works great in stage when the map coordinates are not 0,0,0.

I can build a beautiful map of the buildings 2nd floor, but I can't use it. I have been stuck on this for two months.

Please help.

Thanks.