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Laser scan to probabilistic map based on occupancy grid

asked 2015-03-23 17:41:11 -0500

sadek gravatar image

Hi all,

I would like to transform laser data (LaserScan) in a local 2D occupancy grid (OccupancyGrid). I tried to use "gmapping" and it worked well. But gmapping builds a global map while I only need the local one.

Is there a simple solution (a package or a node) to build a local map around the robot? Could you please tell me what should I do in details? or show me some references?

Thank you.

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answered 2015-03-24 14:20:01 -0500

sadek gravatar image

updated 2015-03-24 14:20:38 -0500


I finally found a node ROS that can do that. But can be run only on ROS Indigo. More information on this page :

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Hi! Can you please tell me how do you run the local_map? I'm tried to run the package but it tells me that there is no executable. Thanks!

jmrrosa gravatar image jmrrosa  ( 2016-09-19 12:15:08 -0500 )edit

answered 2015-03-24 14:31:05 -0500

TimboInSpace gravatar image

It seems to me like gmapping would still work. Just remap ~map_frame to some local map frame that you have defined, and also set a static transform between the robot base and this local frame.. After that, you'll have to manage the global map <--> odometry frame transform by some other means, but it should accomplish what you need.

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Asked: 2015-03-23 17:41:11 -0500

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Last updated: Mar 24 '15