Recommended 3D Slam package?

asked 2016-09-18 14:40:44 -0500

Cerin gravatar image

I have a laser range finder mounted on a pan-tilt mechanism, and now I'm researching how to use it to perform SLAM.

The vast majority of ROS SLAM tutorials seem to refer to gmapping. However, this only seems to support 2d SLAM, meaning I'd have to lock my tilt angle to a fixed position in order to use gmapping, which defeats the purpose of having a pan/tilt mechanism.

A few other packages, like RGBDSlam, claim to support 3D SLAM, but these have much less documentation, so it's unclear how reliable it is or how difficult it would be to setup.

What's the best package to use in ROS to do 3D SLAM?

edit retag flag offensive close merge delete