IR-Sensor, Mapping, PLM, Arduino

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Hey,

I recently build a small rover and equipped it with this cheap sensor: Sharp 2y0a21 which is monted on a Servo.

What I would like to do now is creating a map by scanning the area in front of the sensor and detecting obstacles.

I already saw this: PLM project This is exactely what I would like to do.

Unfortunately I did not find any tutorial or step of how to achieve this. (Since even this website is not avaiable any more: arbotix/pml

That is why i would like to ask if anyone could give me some suggestions of how I could reach this goal and if there is any ros package already that can be used and integrated easily.

Thanks for your help!

Best Markus