Robotics StackExchange | Archived questions

how to use 2 laserscanners in order to perform more efficient Gmapping

Hello everyone, I am trying to merge the laserscans of two Hokyuo laserscanners in order to perform more efficient Gmapping. I am using ROS Kinetic and catkin. Since all packages like mapmerger or the iralasertools do not work either on catkin or on ROS Kinetic I need a different approach. I thought of transforming my laserscans to /pointcloud1 and /pointcloud2 (using scantocloudconverternode) merge the two clouds and transform them back using pointcloudto_laserscan node. Is there any easy way or package to merge two pointcloud topics or is there even an easy way to merge two maps after having succesfully completed gmapping for each laserscanner that works on kinetic and catkin? Thank you very much in advance!

Asked by Laboe on 2017-08-21 10:54:01 UTC

Comments

I tried building https://github.com/iralabdisco/ira_laser_tools.git and it has a few warnings but seemed build fine in Kinetic on 16.04, does it not work for any other reason?

Asked by lucasw on 2017-08-21 12:57:56 UTC

Answers