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?
We can't help you unless you tell use what problems you're actually having.
Doesn't tell us much.
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