Ultrasonic range sonars mapping in RVIZ
I'm trying to build a map in RVIZ, by using 3 ultarsonic sonars. After some research i found some related work, for example in lego nxt where it was used an ultrasonic range sonar here. And is possible to see in their presentation video doing some mapping in occupancy grid form, but i couldn't found how they do it. Possible using slam_gmapping, but i notice that stack requires laser scans. Any idea how can i do it?