Make a iteratively using laser data
I'm using ROS Melodic and Gazebo 9.
I'm implementing SLAM algorithm using C++ and I having a lot of troubles making the map iteratively. My steps to make the map are:
- Start simulation.
- Read laser scan.
- Make a map with laser scan data.
- Move the robot.
- Read laser scan.
- Add laser scan data to current map.
I'm having a lot of troubles at point 6.
I'm using a nav_msgs/OcuppancyGrid structure to store the map but I don't know how to add new obstacles to it.
How do you do it? Any suggestions?
Asked by Elric on 2019-09-03 00:46:22 UTC
Comments
We can't help you unless you tell use what problems you're actually having.
Doesn't tell us much.
Asked by PeteBlackerThe3rd on 2019-09-03 05:54:06 UTC
to me it seems that step 3 and 6 are same. If you have no problems with 3 then you shouldn't have any problems with 6 either. Also without further details and logic this question is really vague
Asked by Choco93 on 2019-09-04 06:49:36 UTC