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gmapping with multiple lidars

asked 2017-05-08 01:32:36 -0500

rajnunes gravatar image

we have used a single lidar with slam-gmapping but now we want to extend this with multiple lidars (around 4 sick lidars). is there anyway to maybe merge the data together and continue using slam-gmapping (as ive read AMCL can subscribe to two LaserScan topics and combine it into one topic but would this be feasible).

otherwise is it advisable to have a gmapping node for each lidar and then combine the costmap created

Or alternatively use octomap to input all the data to one map and create a cost map

what would be the best approach?

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answered 2018-07-25 04:24:50 -0500

You can use cob_scan_unifier for this. I am using for with two 270° scanners.

Here is example launch file.

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Asked: 2017-05-08 01:32:36 -0500

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Last updated: Jul 25 '18