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Hello,

However these usually require a LaserScan Msg. However no open documentation exists (as of writing) for use of these packages without a laser, while it is very possible to do SLAM with other sensors.

please check out [this](https://github.com/alexsleat/projectChimaera/wiki/Other-Sensors-and-ROS-gmapping-(SLAM) documentation

Hello,

However these usually require a LaserScan Msg. However no open documentation exists (as of writing) for use of these packages without a laser, while it is very possible to do SLAM with other sensors.

it is basicly consisting of steps listed below:

• Converting sensor readings to a 2D plane
• Converting the 2D plane to a point cloud
• Converting the point cloud to a laserscan (with pointcloud_to_laserscan)

please check out [this](https://github.com/alexsleat/projectChimaera/wiki/Other-Sensors-and-ROS-gmapping-(SLAM) for detailed documentation

Hello,

However these usually require a LaserScan Msg. However no open documentation exists (as of writing) for use of these packages without a laser, while it is very possible to do SLAM with other sensors.

it is basicly consisting of steps listed below:

• Converting sensor readings to a 2D plane
• Converting the 2D plane to a point cloud
• Converting the point cloud to a laserscan (with pointcloud_to_laserscan)

please check out [this](https://github.com/alexsleat/projectChimaera/wiki/Other-Sensors-and-ROS-gmapping-(SLAM) for detailed documentation, sensor used in this documentation is a sonar