How to make Occupancy grid map from laser Sensor data?
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.
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 :)