You can usually remap everything when running gmapping, i.e. the /map topic and possibly the /map frame (via param) for tf. If you do so gmapping will not interfere with other algorithms producing the same kind of data.
Originally posted by dornhege with karma: 31395 on 2013-03-12
This answer was NOT ACCEPTED on the original site
Post score: 1
Original comments
Comment by kachilous on 2013-03-12:
In the map -> odom transform that gmapping provides, where will it get the map data? From the map on the map server or on the map that gmapping has
Comment by dornhege on 2013-03-13:
gmapping make its own map.
Comment by kachilous on 2013-03-13:
So in calculating the transform map -> odom, instead of using the map that I've loaded on the map server, (which is what I want) it will instead use the map that it has created.
Comment by dornhege on 2013-03-13:
gmapping will always create and use its own map.
Comment by kachilous on 2013-03-13:
So if I want to know the location of the robot in my map that I built with gmapping, would it matter that gmapping uses its own map to calculate the map -> odom transform?
Comment by dornhege on 2013-03-14:
gmapping will only give you the position in the map that it builds right now. If you want to localize in a previously recorded map, use something like amcl. See @Ben_S answer for that.