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In AMCL page, for use_map_topic it says "When set to true, AMCL will subscribe to the map topic rather than making a service call to receive its map." but i dont get it. can someone explain it?

I created map with gmapping and saved it. After when i try to localize the robot in the static map how should i set this parameter?


Originally posted by bsk on ROS Answers with karma: 73 on 2016-06-29

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If you created a map in advance, you also need the map_server to publish the map. I think in this case it doesn't really matter whether you use the map-topic or the map-service, as map_server provides both. So you can leave the parameter to false here. But other map providers like mappers might provide only the topic or the service.


Originally posted by Sebastian Kasperski with karma: 1658 on 2016-06-29

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