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I'm trying to make a 2D map of a room. This is a project for learning ROS in the first place, so there's no robot involved. I just want to be able to make a map from either my laserscan data or pc2 data. I'm using the Scanse Sweep LIDAR, and I'm able to view live data in rviz. Can I use gmapping, and input static odometry data, or is Hector mapping better in this case?
Thanks in advance
With gmapping just adding a static frame for odometry isn't enough because you have paramaters like :
~linearUpdate (float, default: 1.0)
Process a scan each time the robot translates this far
~angularUpdate (float, default: 0.5)
Process a scan each time the robot rotates this far
your map would be updated only if you move, and I'm pretty sure there are other params like that. You can check #q63457, they already discussed about gmapping without odom.
So yes, hector_mapping is exactly what you are looking for.
Asked: 2018-10-18 06:41:36 -0500
Seen: 370 times
Last updated: Oct 18 '18
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Hi I am also working on making a 2D map of a room kindly explain me some steps to follow they will be help me in my undergrad project Thanks Regards Abdullah Sindhu