A ROS Component and command line tool to align the current 2D /map or an image of a map to a previously saved map. The map to align to is assumed to be a .pgm created by the map_saver component (but other may work too). There are no additional sanity checks like matching resolution of the supplied maps. he neccesary transformation (with 3 DOF, rotation and translation) is either published as tf between the /world and /map frame, returned on the command line or saved as a stitched image.
mapstitch is ...
