/robot_laser_grid_mapping

Log odds mapping where the robot pose is known. Works with ROS1.

Primary LanguagePythonMIT LicenseMIT

Robot Laser Grid Mapping (ROS)

Mapping for known poses algorithm (ROS package) using log odds.

Youtube Link: https://youtu.be/ykOTfrS5pO4

The original map for the recorded bag: (Bag is generated using https://github.com/salihmarangoz/robot_laser_simulator)

Features

  • ROS (outputs /map and inputs /scan)
  • Listens map->base_link transform.
  • Demo bag is available.
  • Map is updated when (x,y) position changes more than specified threshold.
  • Map publish rate is limited.

Running

# For testing with a bag file:
$ roslaunch robot_laser_grid_mapping start.launch
# For running together with the simulator (https://github.com/salihmarangoz/robot_laser_simulator):
$ roslaunch robot_laser_grid_mapping start_with_sim.launch