Limiting LaserScan range for Map Building
Hi all,
I have a turtlebot and RPLidar A2 sensor. I am currently implementing hector slam and I am wondering if it is possible to use the laserScans registered just from the 180degree rotation facing the front of the robot instead of the entire 360deg the RPLidar has to build the map. Is there a way to go about doing that?
Thank you!
Try setting the map_update_angle_thresh, laser_min_dist, laser_max_dist params in the hector_slam launch file. Again this is just a logical guess.
Which slam algorithm are you using?
I am using Hector SLAM.
in ros,there is a laserfilter package for it.You can use the laserscanangleboundfilters to do that.