Need some help in implementing 2D Lidar based SLAM in Gazebo

Hello,

I have looked into this package in connection with implementing SLAM using a 2D Lidar mounted on a mobile robot. But somehow I can't figure out how to start with this package. I have a simulation environment created in Gazebo. I move the robot (2D lidar mounted) in a predefined trajectory. I want to estimate its pose and develop a map of it. If you can provide some suggestion for using this package for this purpose, will be very helpful.

regards,

Asked by Spartan_007 on 2019-12-17 11:56:32 UTC

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Answers

SLAM is a problem solved in ROS multiple times. slam_toolbox is one of the newer ways to solve it and has probably a focus on performance rather than beginner-friendly documentation.

Some of the older slam approaches also have tutorials on how to get started:

http://wiki.ros.org/slam_gmapping/Tutorials
https://google-cartographer-ros.readthedocs.io/en/latest/demos.html

Asked by ct2034 on 2019-12-18 08:08:47 UTC