How to visualize the laser scan data as a local/global map?
Hi, my robot in ros melodic has a lidar and I want to visualize the laser scan data.
Previously I used the local_costmap, but since it became more complicated and now it consists not only of the laser scan data, I am searching for an alternative how to come to a global map or at least as a previous step, to a local map of a fixed size, similar to what local_costmap would give with only one layer of laser scan data.
I guess this is something common, so there should be already a way of doing this, but my search hasn't led me far. I basically need a map (.png image / OccupancyGrid) of what rviz already could visualize (only laser scan). I would appreciate any help, thank you!