ROS Programming: Building Powerful Robots

Loading the map using map_server

When you want to use the map built with your robot, it is necessary to load it with the map_server package. The following command will load the map:

    $ rosrun map_server map_server map.yaml
  

But to make it easy, create another .launch file in chapter5_tutorials/launch with the name gazebo_map_robot.launch, and put in the following code:

<?xml version="1.0"?> 
<launch> 
  <param name="/use_sim_time" value="true" /> 
  <!-- start up wg world --> 
  <include file="$(find    gazebo_ros)/launch/willowgarage_world.launch"/> 
  <arg name="model" /> 
  <param name="robot_description" command="$(find xacro)/xacro.py    $(arg model)" />  <node name="joint_state_publisher" pkg="joint_state_publisher"  type="joint_state_publisher" ></node> ...