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How to make Occupancy grid map from laser Sensor data?

asked 2014-04-30 07:22:54 -0500

abqfjold gravatar image

Hi there

i am doing a course project and am stuck on fairly easy task.

My robot model has a laser scanner and I generate a bag file from gazebo.

I am asked to generate a Occupancy grid map as we do in SLAM. I am NOT allowed to use gmapping or hector mapping so I have to write my own code.

right now I have achieved that I initialized the map and visualized it in rviz. It is fairly simple as I just set height, width, resolution and placed all zeros in .data.

My next task should be use the sensor data being published and generate a map. and here I am stuck as I cannot find some appropriate tutorials. However i found a good implementation of the same task but its too verbose for me to decipher. it is (http)cs225turtle.googlecode.com/svn/trunk/project2/local_obstacles/src/local_obstacles.cpp

Can you please explain where can I get some help? Or you can also help me in the answer.

If you ask, I can paste my code also.

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Hi :) I'm working on a similar project where I am to generate an occupancy grid map. I really am stuck as you probably were. Would you please post an answer if you've solved it? Walk us through the steps please :)

Ahmed Abdalla gravatar image Ahmed Abdalla  ( 2016-07-29 12:41:19 -0500 )edit

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answered 2015-03-28 14:31:55 -0500

sadek gravatar image

Hi, I suggest to you to take a look on local_map on this page : http://wiki.ros.org/local_map . It's probablly what you're loocking for.

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Asked: 2014-04-30 07:22:54 -0500

Seen: 7,589 times

Last updated: Mar 28 '15