salihmarangoz / robot_laser_grid_mapping

Log odds mapping where the robot pose is known. Works with ROS1.

MIT License

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readme

Robot Laser Grid Mapping (ROS)

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)

Features

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.

Running

# 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