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Within gmapping, you'll find that there is a simple ROS wrapper around the underlying library/app. Unfortunately, if you want to "add color" to each cell, you'd have to do that within the underlying library -- and I think that would involve going as far as changing the underlying representation of what a "laser scan" is within gmapping.

Within gmapping, the gmapping package, you'll find that there is a simple ROS wrapper around the underlying library/app. Unfortunately, if you want to "add color" to each cell, you'd have to do that within the underlying library -- and I think that would involve going as far as changing the underlying representation of what a "laser scan" is within gmapping.