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koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM
BSD 2-Clause "Simplified" License
1.94k stars 723 forks source link

Also supporting 2D Hardware? #176

Open Alexandero89 opened 3 years ago

Alexandero89 commented 3 years ago

I'm sorry to open an issue which is basically a support request.

I am completely new to this topic (ROS,Lidar etc ) but i need to create a 2D floor map of a building. So i was planning to buy this Lidar: https://www.robotshop.com/de/de/rplidar-a2m8-360-laserscanner.html And use hdl_graph_slam while going through every room. Is this possible or would i need 3D Lidar hardware?

If i understood the README correct this software can handle 2D values because it handles it as a 3D model where the Z value is NaN.

Thx in advance!

koide3 commented 3 years ago

This package does 3D mapping and maybe not suitable for 2D mapping. I think slam_toolbox slam_toolbox would meet your purpose.