how to use 2 laserscanners in order to perform more efficient Gmapping

asked 2017-08-21 10:54:01 -0600

Laboe gravatar image

Hello everyone, I am trying to merge the laserscans of two Hokyuo laserscanners in order to perform more efficient Gmapping. I am using ROS Kinetic and catkin. Since all packages like map_merger or the ira_laser_tools do not work either on catkin or on ROS Kinetic I need a different approach. I thought of transforming my laserscans to /pointcloud1 and /pointcloud2 (using scan_to_cloud_converter_node) merge the two clouds and transform them back using pointcloud_to_laserscan node. Is there any easy way or package to merge two pointcloud topics or is there even an easy way to merge two maps after having succesfully completed gmapping for each laserscanner that works on kinetic and catkin? Thank you very much in advance!

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I tried building https://github.com/iralabdisco/ira_la... and it has a few warnings but seemed build fine in Kinetic on 16.04, does it not work for any other reason?

lucasw gravatar imagelucasw ( 2017-08-21 12:57:56 -0600 )edit