map-server-config

To configure the Nav2 map_server to publish an OccupancyGrid map, load a YAML map description and start the map_server under the nav2_lifecycle_manager for lifecycle-managed activation and deactivation.

Yes, you can switch maps at runtime with the Nav2 map_server without restarting by calling the /map_server/load_map service to dynamically load new OccupancyGrid data.

Nav2 map_server coordinates with AMCL and Global/Local costmaps during map loading by ensuring new maps are used correctly and initial pose can be re-seeded for smooth map transitions.

Using nav2_lifecycle_manager for map_server startup provides lifecycle-managed activation and deactivation, ensuring reliable map-based navigation and controlled state transitions.

Yes, you need a YAML map description to start the Nav2 map_server, which uses it to publish static OccupancyGrid maps and support runtime map changes.

Runtime map switching issues in Nav2 map_server often occur when AMCL and costmaps are not properly coordinated to use the new map and re-seed the initial pose for smooth transitions.