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)
- 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.
# 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