multi-floor-mapping

Multi-floor navigation in ROS2 requires orchestrating per-floor occupancy grids, map switching, and AMCL re-localization. A floor-transition manager loads new maps on floor change and clears costmaps to maintain robust navigation across levels.

AMCL re-localization during a floor transition requires reinitializing AMCL, publishing a new initial pose for the target level, and clearing the costmap. This minimizes positioning drift when the map server loads the new floor configuration.

Nav2 supports automatic map switching for multiple levels by using a transition manager. A clear floor-change trigger initiates the switch, loading the corresponding per-floor map YAML and updating the map server interface seamlessly.

Multifloor mapping supports both a single map server and multiple map servers. You can configure per-floor setups with distinct map YAMLs and initial poses, allowing the transition manager to load the correct map for each level.

Robots lose position during floor changes if AMCL is not reinitialized and the costmap is not cleared. Reliable multi-floor navigation requires publishing a correct initial pose for the new floor map to prevent localization drift.

Before starting multifloor mapping in Nav2, you need a map server interface, per-floor map YAMLs, initial poses, a floor-transition manager, and a clear floor-change trigger to ensure proper occupancy grid switching and AMCL re-localization.