Multi-map navigation system

[khalidbourr]

That’s a cool approach. One question: How did you align your maps? same starting location, manual editing, or something else? I ask because looking at your code, there seems to be no AMCL reinitialization after the switch, which means the particle filter continues running with particles from the old map. I’m guessing this works because your maps are fully aligned with the same origin and same orientation, otherwise localization would diverge immediately, which is exactly what @chfritz was getting at when he asked about reinitializing localization samples and whether maps need the same orientation.