Using gmapping with multiple laser scanners and odometry

I am working with a robot that has multiple laser scanners near it's base (front, left, and right) and I was looking into using the Gmapping package to map or a room. Is it possible to use this package with multiple laser scanners? Also, once I map out the room, what is the best way to get the coordinate position of the robot in the map?

Asked by rplankenhorn on 2016-09-20 08:50:55 UTC

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There is no need to use multiple lasers for gmapping, only a front laser is needed. Say your front laser scope is 180 degrees, you can make your robot turn left and right to get the map on the left and right.

After gmapping, amcl can get robot pose for you.

Asked by Shay on 2016-09-20 21:35:17 UTC

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Not sure if GMapping supports multiple laser range finders, but slam_karto (aka Open Karto) definitely does. But it's not well documented on the ROS wiki unfortunately.

You can install it from Debian packages, e.g. ros-indigo-slam-karto, but I would also look at the GitHub repo: https://github.com/ros-perception/slam_karto

Asked by spmaniato on 2016-09-20 23:57:23 UTC

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You can check;

http://answers.ros.org/question/9294/using-multiple-laser-scanners/

http://answers.ros.org/question/201003/navigation-slam-gmapping-multiple-laserscans/

http://answers.ros.org/question/195559/how-can-i-merge-scan-topics/

Asked by Akif on 2016-09-21 01:38:14 UTC