Is there any way to create a map of sensor readings(light/temperature/wifi) during SLAM?
I would like to create a heatmap of multiple sensor readings, while my robot is creating a map of the surrounding using gmapping.
I have the navigation and SLAM portion of the robot working. I have attached the sensors, I wrote a couple of scripts to get the readings in the msg/Illuminacence msg/Temperature format and so on. I am able to view those measurements in rviz.
At the end, I would like to end up with a couple of maps, each one showing a heat map of different sensor measurements.
There are two problems:
The sensor readings are msgs, so they do not create a map, even though they have (x,y) coordinates. Can I turn them in a map? Is there a 'proper' way of doing this?
A harder to solve problem, the (x,y) coordinate of the sensor readings, is the (x,y) coordinate of the robot at the time of the measurement. Since I am collecting the measurements, while I am performing SLAM, the map, and the robot pose changes quite a bit. This leads to measurements which by the end algorithm, are off the map. I somehow need to apply the gmapping transforms to the sensor readings. Is there an elegant way of doing this?
Thank you, attached is a picture of the light sensor in rviz. https://s31.postimg.org/mrxqwo0fv/Scr...
I also have a similar problem - I am looking for a method to overlay some sensor data on a map generated with GMapping to create a spatial heat map. Initially, I am likely to be testing this by publishing random numbers to a topic that a heat map generator node will subscribe to and create the heat map from when combined with robot X and Y coordinates. Ultimately, I'm looking to be able to manually move a robot around and visualise how this heat map is building up according to sensor data (i.e. the random number) at the robots position. Any ideas would be much appreciated!