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how to perform gmapping with two laser sensors attach on front and rear place of the robot ?

asked 2020-07-20 12:05:02 -0600

akshaywifi gravatar image

i am using two laser sensors to create a map via gmapping method . i already use ira laser tool package to merge data from front and rear sensor but map was looking very poor with this package . is there any other method for performing gmapping with two laser sensors . i also used multi map merger package but stuck . #ros

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answered 2020-07-20 21:36:50 -0600

updated 2020-07-20 21:39:59 -0600

I am not sure about @stevemacenski's answer. Looking at the source code of gmapping it seems to be "smart" about it.

As long as your laser sources have a correct tf frame_id and your tf tree is properly set up, gmapping should be able to handle both lasers. You would just need to set up both laser nodes to output messages to gmapping's scan topic.

I have never tried it myself, so it might fail miserably. Let me know how it goes if you give it a try.

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no it does'nt work . robot was blinking in rviz environment . which means robot trying to find frames which one it should be follow .

akshaywifi gravatar image akshaywifi  ( 2020-07-25 08:56:09 -0600 )edit

answered 2020-07-20 13:58:08 -0600

You would have to merge the scans prior to input into most all SLAM libraries in ROS. Whether you use that package or another, somehow you need to preprocess it.

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Asked: 2020-07-20 12:05:02 -0600

Seen: 148 times

Last updated: Jul 20 '20