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Using gmapping with multiple laser scanners and odometry

asked 2016-09-20 08:50:55 -0500

rplankenhorn gravatar image

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?

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answered 2016-09-21 01:38:14 -0500

Akif gravatar image

updated 2016-09-21 01:38:23 -0500

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answered 2016-09-20 23:57:23 -0500

spmaniato gravatar image

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:

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answered 2016-09-20 21:35:17 -0500

Shay gravatar image

updated 2016-09-20 21:35:49 -0500

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.

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Asked: 2016-09-20 08:50:55 -0500

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Last updated: Sep 21 '16