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SteveMacenski / slam_toolbox

Slam Toolbox for lifelong mapping and localization in potentially massive maps with ROS
GNU Lesser General Public License v2.1
1.5k stars 497 forks source link

SLAM Toolbox with hilly terrains #684

Closed mattiadutto closed 2 months ago

mattiadutto commented 2 months ago

From what I can see on the code and based on what I saw online there is no possibility to use the SLAM Toolbox with hilly terrains or I am wrong? Because from what I understood, when the SLAM Toolbox adds a new scan just use the 2D coordinate of the scan.

So if I want to map a hilly terrain or a building with more than 1 floor and I also want to map the scale I have to use something that supports visual SLAM right?

Thanks

SteveMacenski commented 2 months ago

This is a 2D lidar slam, no, it is not appropriate where the environment cannot be modeled in 2D

mattiadutto commented 2 months ago

Thank you very much!