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go for hector_slam if you want to create a floor plan of the environment. First you need to make sure that your laser data is publishing on a /scan topic and then run hector_mapping node available in hector_slam package

http://wiki.ros.org/hector_slam

go for hector_slam if you want to create a floor plan of the environment. First you need to make sure that your laser data is publishing on a /scan topic and then run hector_mapping node available in hector_slam package

http://wiki.ros.org/hector_slam

go for hector_slam if you want to create a floor plan of the environment. First you need to make sure that your laser data is publishing on a /scan topic and then run hector_mapping node available in hector_slam package

http://wiki.ros.org/hector_slam

if you browse through hector_slam_launch/launch files you will find tutorial launch file. this is the file you need to launch. next you have to edit your mapping_default.launch and tutorial.launch.

In tutorial.launch file, add these lines at the end

go for hector_slam if you want to create a floor plan of the environment. First you need to make sure that your laser data is publishing on a /scan topic and then run hector_mapping node available in hector_slam package

http://wiki.ros.org/hector_slam

if you browse through hector_slam_launch/launch files you will find tutorial launch file. this is the file you need to launch. next you have to edit your mapping_default.launch and tutorial.launch.

In tutorial.launch file, add these lines at the end

<node pkg="tf" type="static_transform_publisher" name="map_baselink_broadcaster" args="0 0 0 0 0 0 map base_link 100"/>

<node pkg="tf" type="static_transform_publisher" name="baselink_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/>

and also set use_sim_time to 'false' 'false'

In mapping_default file, use following configuration

"map_frame" value="map" />

"base_frame" value="base_link" />

"odom_frame" value="base_link" />

hope this solves your query