insert empty map creates docking edge and charge point

[PDuckworth]

insert_map.py always creates a Charge point and Station node, with docking/undocking action on the edge. This is not helpful when we don't have a charge point - can there be an option for simple move_base action on an edge between two waypoints?

[Jailander]

Hi @PDuckworth insert map is outdated you should use the load_yaml script, there is an option to launch the map manager with a new empty map and then you can add nodes using the rosservices given by it when you add a node in the service there is an option to automatically connect it with move base actions to close by nodes (I think around 8 meters) you can set a rosparam if you want that distance bigger or smaller, finally there is a rosservice to add edges between nodes.

This is all a but if a mess and it's getting totally revamped in the couple of months but meanwhile this is the best way (or my preferred one). I can send you more detailed instructions tomorrow

[PDuckworth]

Thanks for the reply. I managed to get insert_map and topological_rviz_tools working relatively nicely together.

insert_map inserts two nodes, and the rviz tools allows you to add nodes and edges really easily via rviz. This is sufficient for now.

If you are planning a revamp anyway - perhaps ignore the issue.