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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
1.52k stars 354 forks source link

where is gmapping code? #82

Closed juno100 closed 2 years ago

juno100 commented 2 years ago

i want to study and change the gampping code

where is gmapping code in champ?

chrisalbertson commented 2 years ago

Wow, I know this one...

The actual code is in the ROS GitHub in the gmapping package but the stuff you want to possibly change is in the launch file at https://github.com/chvmp/champ/blob/master/champ_navigation/launch/slam/gmapping.launch

Documented here http://docs.ros.org/en/hydro/api/gmapping/html/index.html

On Mon, Apr 18, 2022 at 12:22 AM JUNHOBAEK @.***> wrote:

i want to study and change the gampping code

where is gmapping code in champ?

— Reply to this email directly, view it on GitHub https://github.com/chvmp/champ/issues/82, or unsubscribe https://github.com/notifications/unsubscribe-auth/ABQKNRSXGQOKV7CO5CHGTVTVFUEUFANCNFSM5TVFYCAA . You are receiving this because you are subscribed to this thread.Message ID: @.***>

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Chris Albertson Redondo Beach, California

juno100 commented 2 years ago

can i change the code?

grassjelly commented 2 years ago

Yes you can, but sorry that's not part of this project's scope. Closing for now. Thanks

chrisalbertson commented 1 year ago

I tracked down the gmapping library that ROS uses. It seems to be about 15 years old and has not been modified in 4 years. Then I found the fork that is used by ROS. It has recent changes and seems to be what an actual robot would use today https://github.com/ros-perception/openslam_gmapping

If you are going to modify this, I'd set up a simple test robot in gazebo, use Turtlebot.

On Mon, Apr 18, 2022 at 12:55 AM JUNHOBAEK @.***> wrote:

can i change the code?

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Chris Albertson Redondo Beach, California