After Crystal is out, there are a number of potential improvements to the functionality of the map server that we can make. Some random ideas of things that could be useful are:

• Allowing a single map server to provide multi-layered maps, with the maps overlaying each other in space and providing different information (one example given is traffic flows to allow robots to avoid crowded areas).
• Allow a map server to load a map from multiple sources. For example, several bitmap files for an occupancy grid map that are then arranged to provide a single map. This allows maps to be managed and maintained in a more granular fashion, especially for larger spaces.
• Merging multiple different map data sources into a single map (single layer) based on processing the data when it is loaded and combining the results in some way.

The purpose of this issue is to get discussion going and identify concrete use cases so that these sorts of features can be implemented in the D Turtle development cycle.

• Multi-layer maps: map server and data structures design #547 Multi-layer maps
• Maps from sub-map sources #548 Maps from sub-map sources
• Map server providing dynamically-generated maps #549 Map server providing dynamically-generated maps