</div><!-- fragment --><div class="fragment"><div class="line">roslaunch pgm_map_creator request_publisher.launch</div>
</div><!-- fragment --><p>Wait for the plugin th generate map. Track the progess in the terminal that spawns the world file. Once it is done, the pgm map would be in the <code>maps</code> folder of the <code>pgm_map_creator</code>.</p>
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(6) Create the &lt;tt&gt;yaml&lt;/tt&gt; file for the pgm map.</h2>
<p>You may also need a <code>yaml</code> fi