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Dear Sadek,

gmapping is designed to work with odometry and laser scan data and you cannot use it if one of them is missing. If I understand you need to transform laser data in an occupancy grid (that is the same topic type of map published by gmapping): in that case some kind of Costmap2D is what you need. You should set up static_map to false, so no external map is required and only laser data will be used, and rolling_window to true, so the robot will be every posed at centre of costmap. Costmap2D will publish /grid that should be exactly what you need.

Unfortunately (for you) the Costmap2D is not provided as node since it is embedded in move_base node so you should get the sources and write your own node. Furthermore it do something more than transform laser data to occupancy grid: it define costs used for path planning: maybe you can find a setup that works fine for your goal.