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how does laserscan data match the map

asked 2021-09-17 03:45:23 -0600

alex_ho gravatar image

I wonder when the robot with a 2D lidar runs navigation node, how does the laserscan data match the .pgm file map. I wonder the principle.

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answered 2021-09-18 08:41:00 -0600

Mike Scheutzow gravatar image

updated 2021-09-18 08:41:37 -0600

This problem has been researched for decades, and no single best solution has been found. As a start, you could look at http://wiki.ros.org/laser_scan_matcher and read the Andreas Censi paper mentioned there.

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answered 2021-09-17 06:23:52 -0600

Since your question is a little broad, I will make the assumption you already know how 2D lidar works, if you want to understand how this is done in code to convert into a map, I suggest you review the velodyne repo: https://github.com/ros-drivers/velodyne

In there you will see how this is done, take a look at to start with and work your way how this is converted into an image data:

https://github.com/ros-drivers/velody... https://github.com/ros-drivers/velody...

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Asked: 2021-09-17 03:45:23 -0600

Seen: 31 times

Last updated: Sep 18 '21