Revision history [back]

You can either use hector_mapping, as jseal suggested, or a combination of laser_scan_matcher and slam_gmapping (or even slam_karto). You'll first need to install it:

sudo apt-get install ros-indigo-scan-tools

Then, here's an excerpt of how you'd run it from a launch file in order to "fake" odometry:

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
  name="laser_scan_matcher_node" output="screen">

  <param name="fixed_frame" value="odom"/>
  <param name="use_imu" value="false" type="bool"/>
  <param name="use_odom" value="false" type="bool"/>
  <param name="max_iterations" value="10"/>
</node>

You can either use hector_mapping, as jseal suggested, or a combination of laser_scan_matcher laser_scan_matcher and slam_gmapping (or even slam_karto). You'll first need to install it:

sudo apt-get install ros-indigo-scan-tools

Then, here's an excerpt of how you'd run it from a launch file in order to "fake" odometry:

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node"
  name="laser_scan_matcher_node" output="screen">

  <param name="fixed_frame" value="odom"/>
  <param name="use_imu" value="false" type="bool"/>
  <param name="use_odom" value="false" type="bool"/>
  <param name="max_iterations" value="10"/>
</node>