Re: [Playerstage-users] Dynamic loading of a pgm through MapFile driver?

[Brian G. <br...@ge...>]

On Jun 5, 2009, at 3:54 AM, Sanderson, David wrote:

>
> The problem:
> What I’m trying to do is have a robot working on a SLAM problem that  
> drives around an environment creating a map as it goes (so the file  
> is constantly updated on the harddrive) and then it should read in  
> the current version of the map, and do various things with it (amcl/ 
> wavefront/etc).
>
> The problem that I’m having is that the MapFile driver seems to only  
> read the map at the very beginning when it is created, and it never  
> picks up the new data. This seems like it shouldn’t be the case to  
> me, but perhaps I am not seeing something correctly.

The best solution would be for your SLAM system to support the map  
interface itself, without using the mapfile driver.  In the past, I've  
done this by having the SLAM driver periodically publish MAP_INFO,  
allowing the client to request the MAP_DATA when it wants.

	brian.