Mapping with Kinect sensor
I am working on a robot, which finally should move to the specified location in the map autonomously. (For which I am planning to use Navigation stack).
For which I want to map the environment. I have a kinect sensor available, so which mapping I should use so that I can generate a map (2D or 3D), which can be later fed to the navigation stack....??
I can fetch the odo ticks from the micro controller and give for the mapping stack. As the kinect is a fixed connection to the robot, I can publish a static transform from kinect to the base link.
Are these sufficient to use the mapping stack, but the question is which mapping stack to go with..? and any examples suggesting the use of the mapping stack will be great full to start with.
Many thanks in advance.