Forked from https://kforge.ros.org/gridutils/git with Catkinizing changes. The package contains utilities for dealing with occupancy grids, represented as nav_msgs::OccupancyGrid objects, including coordinate conversions, shortest paths, ray tracing, and constructing from laser scans.
Hi,
I'm testing the ray tracer on a occupancy grid map and I'm getting the following results:
http://imgur.com/ueAwDHJ
which shows a weird pattern because the walls are flat, as you can see in the following image:
http://imgur.com/T4nFUpo
I'm using 720 beans for the ray tracing. Any idea on what is happening?
Best,