I cannot see the loaded map on rviz
Hi,
I want to make my robot dog (unitree A1) to navigate around the building with the commands using coordinates on the map. I have already created the map (.yaml and .pmg) of the building.
I imagine the natural first step is to load the existing map and verify if the dog sees the map or not using rviz. However I am not being able to see loaded map in the rviz
Loading of the map
rosrun map_server map_server (path to .yaml)
Above command works fine.
My research informed me that I have to select map in my fixed frame setting of the rviz. However, no image of the map appeared.
My questions are the following
1) How can I ensure that map is loaded?
2) How can I see it in rviz
3) If anyone has experience with using
rostopic pub /move_goal_simple ...
command to navigate on existing map
coordinates. can they please help?
Thanks
You've accidentally posted this question twice. It might be good to delete the other one just to keep things tidy.
Hi,
I have discovered something that explains the situation but I still don't know how to fix this.
I can see the map loaded in rviz if I just run the rviz and map command, however, I cannot see the map once I launch all the nodes required for navigation, which also includes lidar data input.
The data from lidar publishes on /map topic which is the same as the data published by map_server.
I feel the map data from the map_server is overridden by the lidar data once the lidar data begins to update.
Now I need to know how to make sure that lidar and the pre-created map (map_server) can coexist in rviz and how can I use coordinates of the map and lidar data for auto-navigation?
Thanks