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 | 1 | initial version |
If you want to do 3D mapping with Octomap you should get a 3D sensor or a tilting unit for your 2D laser scanner. Also you have to perform some localization for inserting the scans into the octomap.
Octomap is not designed as a solution to the SLAM-problem. If you want to do 2D SLAM with your laserscanner i would recommend gmapping or hector mapping as a starting point.
Btw: Your min- and max-angle seem somewhat small for a scanner that should have 270° FoV. (And the max-range seems a little high, but i dont know the specifics of this particular model)
| | 2 | Extended answer |
If you want to do 3D mapping with Octomap you should get a 3D sensor or a tilting unit for your 2D laser scanner. Also you have to perform some localization for inserting the scans into the octomap.
Octomap is not designed as a solution to the SLAM-problem. If you want to do 2D SLAM with your laserscanner i would recommend gmapping or hector mapping as a starting point.
Btw: Your min- and max-angle seem somewhat small for a scanner that should have 270° FoV. (And the max-range seems a little high, but i dont know the specifics of this particular model)
Edit:
1.) Have a look at the laser_filter (and laser_geometry) packages. They provide functionality to convert laser scans to point clouds. (Look at this answer)
2.) Odometry data is added to the scans/clouds through transforms. You define a frame for your scans/clouds and have to provide a valid transform from your fixed frame to the sensor frame. (Recommended reading: tf tutorials)
3.) You have to publish your clouds either directly under the input topic of octomap or you have to start the octomap_server with topic remappings (renaming) through command line or launch files.
P.S.: Mapping only through odometry and dead reckoning is not very robust. You should consider more advanced methods for localization. :)
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