search

simondlevy / BreezySLAM

Simple, efficient, open-source package for Simultaneous Localization and Mapping
GNU Lesser General Public License v3.0
758 stars 251 forks source link

How to interface with other LIDAR sensors #16

Closed JackToaster closed 6 years ago

JackToaster commented 6 years ago

Hi, I would like to use BreezySLAM on a robot with either a RPLidar a2 or Scanse Sweep sensor, and I'm having some trouble wrapping my head around how to do it using Python. In the Python examples, to update the SLAM the following is done: (In urgslam.py) slam.update(lidar.getScan()) (In xvslam.py) slam.update([pair[0] for pair in lidar.getScan()])

What data type is required for the slam.update() function? Is it just a list of scan distances in mm? Additionally, how can simple odometry be used when updating? Thanks!

JackToaster commented 6 years ago

I figured it out, slam.update takes a list of distances in mm and optionally odometry data.