1. Setup

Overview

It's recommended that you read the original wiki before you continue with the setup.

tl;dr summary: this package allows you to create a database of static-maps and preload them during launch. Upon request, you can transition to a desired map from the database. Each map can have multiple 'wormholes', which are defined as the points of transition between maps. During setup, you can associate a wormhole as the corresponding link between maps. So when you set navigation goals, you need to provide another additional parameter: 'map_name' along with x-y coordinates of the desired target. If the robot isn't currently in the desired map, the multi_map_navigation_manager will set the move_base target to a wormhole, which leads to the target map. What happens if there are multiple wormholes leading to the same map? Upon initialization, the manager maintains a graph of all the available wormholes and uses Dijkstra's algorithm to find the shortest path to the destination.