Hello NVIDIA Isaac Team,
Our use-case briefly:
- We require multiple, separate yet contiguous maps for a particular robot deployment. During mapping (with 2D Cartographer), we would like the ability to save the current occupancy map (as a png), clear the current occupancy map, then continue creating a new/second map.
- Then during run-time localization our robot will determine when to transition from, for example, a default map 0 to map 1, and then do so by loading map 1.
- Within the Isaac-wrapped implementation of Cartographer, is there an exposed API to Save the current map (png), Clear it, and Restart mapping? E.g. a programmatic mechanism equivalent to Ctrl-C to save, clear and restart?
- Is there a programmatic way to load a new/different map at run-time? We acknowledge the existence of the map_json parameter of the Application object. However, later at run-time we require the ability to load a second (or third, etc) map based on path-planning logic.
- Related, is there a programmatic way to get and set the origin of a Cartographer-created map, possibly through the isaac::map::Map object or other? This would allow us to appropriately set the origin of a second or third map such that it corresponds and is meaningful to the odometry of the robot as it travels and transitions into the new map.