# Localization on Map with Web Teleop on Stretch 3

**URL:** <https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274>\
**Category:** Ask\
**Created:** [March 18, 2025, 9:16pm UTC](https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274 "2025-03-18T21:16:27Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![zyaskawa](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/zyaskawa/32/946_2.png) [@zyaskawa](https://forum.hello-robot.com/u/zyaskawa)\
**Post date:** [March 18, 2025, 9:16pm UTC](https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274/1 "2025-03-18T21:16:27Z")

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Following these instructions: [https://docs.hello-robot.com/0.3/getting\_started/demos\_web\_teleop/](https://docs.hello-robot.com/0.3/getting_started/demos_web_teleop/)  
with this script: `./launch_interface.sh -m ${HELLO_FLEET_PATH}/maps/nav2_demo_map.yaml`

For our map, we borrowed a map from another robot and attempted to load into Stretch 3. Navigating and teleoping via RViz works well as there is a way to localize the robot, but I was having trouble localizing/navigating the robot on web teleop. Any suggestions for using a borrowed map for Stretch via web teleop?

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**Author:** ![zyaskawa](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/zyaskawa/32/946_2.png) [@zyaskawa](https://forum.hello-robot.com/u/zyaskawa)\
**Post date:** [March 18, 2025, 9:17pm UTC](https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274/2 "2025-03-18T21:17:42Z")

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Image of the borrowed map:

 ![Screenshot 2025-03-18 at 2.17.27 PM](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/4864c32f7c26ed5229f65d69452c2aa331a07eff.jpeg)

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<div class="post-metadata">

**Author:** ![zyaskawa](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/zyaskawa/32/946_2.png) [@zyaskawa](https://forum.hello-robot.com/u/zyaskawa)\
**Post date:** [March 18, 2025, 11:08pm UTC](https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274/3 "2025-03-18T23:08:27Z")

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navigation map png (later converted to pgm but since the forum here does not support pgm, I have uploaded png. Also note that when testing, I have updated the map name to `nav2_demo_map.pgm`) and yaml:

 ![B-map-1-map-couch](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/e3519e9ee01e7643c72a1cc9ef2639a4a6927bcc.png)

```auto
image: nav2_demo_map.pgm
mode: trinary
resolution: 0.05
origin: [0, 0, 0]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

```

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<div class="post-metadata">

**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [March 20, 2025, 8:10pm UTC](https://forum.hello-robot.com/t/localization-on-map-with-web-teleop-on-stretch-3/1274/4 "2025-03-20T20:10:32Z")

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Hi @zyaskawa, good question. The web interface doesn’t have a GUI for setting the robot’s location. This is something we’d need to develop. I recently wrote a tutorial, [Developing on the Web Interface](https://github.com/hello-robot/stretch_web_teleop/blob/master/documentation/development.md), that covers React, ROS2, and adding new GUI to the interface, so if this is something you’re interested in trying to implement, I’d recommend reading the tutorial. @hello-vinitha, the project lead on the interface, might also be interested.

Alternatively, if you know where the robot wakes up in the map (i.e. its initial pose), you can hard-code it into a node that publishes to the `/initialpose` topic when the launch file is called. Even if the robot isn’t exactly at the hard-coded pose, if it starts close to the hard-coded estimate, it will converge on the true pose as the robot starts moving. This is due to the “motion update” of AMCL, a particle filter that estimates the pose of the robot. I have [a post that describes](https://forum.hello-robot.com/t/navigation-bad-initial-localization/1167/5) how to call `/request_nomotion_update` to cause AMCL to converge, even when the robot isn’t moving.