I am currently using GMapping to build a map. While building the map, I would like to be able to save points of interest that I can command the robot to navigate to at any time. While maintaining a list of points is easy, I have noticed that sometimes GMapping shifts the map and reshapes it while it is mapping. This usually happens once a loop is closed. If this happens, the list of saved points is no longer accurate.
Has anyone dealt with this issue before, or are there any SLAM algorithms out there that deal with this? If not, can you suggest what part of GMapping would need to be changed to provide the ability to keep the points in the correct relative location?
Thanks in advance!
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