AMCL expects a ocupancy grid map, so any bitmap should be fine, feed it into the mapfile driver and then point amcl at the map interface provided by map file.

Toby

On 29/08/07, Dongqing Shi <dongqshi@gmail.com> wrote:
So if I got the map other than using pmap, what kind of formats are good
to be able to extract data through AMCL driver.

Dongqing

Toby Collett wrote:
> AMCL does need a map, it is purely a localisation driver. Pmap is able
> to build a map from a combination of odometry and range readings
> making it a slam(localisation and mapping), unfortunately pmap is also
> an offline only processor (the player driver component of it is for
> accurately capturing the data to process).
>
> So apart from being an interesting challenge in its own right, pmap
> can be used to generate maps for amcl. If you already have a map of
> the area you can use AMCL directly with that and skip the pmap step.
>
> Toby
>
> On 28/08/07, *Dongqing* <dongqshi@gmail.com
> <mailto:dongqshi@gmail.com>> wrote:
>
>
>     Hi,
>
>     I am not quite sure what are pmap and acml driver for?
>     Does acml need a map first to do the realtime localization?
>     If not, why we need pmap utilities?
>
>
>     Dongqing
>
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