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Download the gmapping package sudo apt-get install ros-[version]-gmapping. Then I would suggest launching both nodes using a launch file like so:

<launch>

    <!--- Depth image to laser scan -->
    <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" >
        <param name="scan_height" value="3"/> 
        <param name="output_frame_id" value="base_link"/>
        <remap from="image" to="camera/depth/image_rect_color" />
    </node>

    <!-- Maping Node -->
    <node pkg="gmapping" type="slam_gmapping" name="gmapping_node" output="screen" >
        <remap from="odom" to="your/odom/topic" />
    </node>

</launch>