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Using SLAM map in a custom node

asked 2014-05-07 00:44:21 -0600

Safeer
66 ●9 ●11 ●17

I have followed the SLAM Gmapping tutorial. I have used rviz to set the goal for the robot.

I want to write a program in which robot moves autonomously. Therefore, I want to ask how can I set the current pose and navigation goal in the code (cpp node) without using the rviz? And also how can I used the learned (and saved) map in my code (cpp node)?

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