# gmapping localization information

Hello ROS community,

Since `gmapping`

is a SLAM algorithm, I would like to use both the map and the localization being computed by this algorithm. From what I have seen so far, `gmapping`

only publishes the `/map`

and does not provide any such localization information (i.e. an estimate of the robot pose). My question is this:

Is the gmapping package in ROS performing SLAM? If so, can we get localization information directly from it, rather than having to use other packages like `amcl`

, `robot_pose_ekf`

and `robot_localization`

?

I need to have a fairly accurate robot pose estimate within the map that is the result of SLAM `gmapping`

, rather than using the robot pose estimated from the odometry data. I need to use this in an exploration algorithm.

Also, I seem to have a localization problem in gmapping since if the robot is rotated by 180 degrees in an alley, the resulting map is a mess as shown below:

I appreciate any help. Thank you!

RND