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1 | initial version |
It seems the GMapping::ScanMatcherMap
object contains the probabilities of occupancy all the cells as floating numbers between 0.0 and 1.0 : https://github.com/ros-perception/slam_gmapping/blob/hydro-devel/gmapping/src/slam_gmapping.cpp#L690
If you can publish it to a topic you might get what you want.