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Using multiple laser scans for gmapping [closed]

asked 2021-09-30 11:24:55 -0500

Kevin1719 gravatar image

updated 2021-10-03 11:27:16 -0500

Mike Scheutzow gravatar image

Hi, I'm trying to do the SLAM mapping with gmapping on my robot, which has 2 lasers on it, in the font and in the back of the robot. So how can I use 2 laser scans for gmapping, since gmapping only subscribes 1 /scan topic ?

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Closed for the following reason the question is answered, right answer was accepted by Kevin1719
close date 2021-10-05 05:42:32.926162



Search for fusion of data sensors like in question /#q273572

osilva gravatar image osilva  ( 2021-10-01 18:13:11 -0500 )edit

Thanks a lot :)

Kevin1719 gravatar image Kevin1719  ( 2021-10-01 21:54:09 -0500 )edit

You can also do a search on merge scans in the dialog box at the top of this page, and you will get a lot of hits. If you find a solution that someone else made that works for you, you can help out the community by answering your own question and providing a url.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-10-03 10:02:52 -0500 )edit

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answered 2021-10-03 11:10:42 -0500

Kevin1719 gravatar image

Thanks to Mike Scheutzow's help, I have merged my scans for gmapping, by following this question. it worked like a charm, using two lidars helps the mapping process much faster and as accurate as using only one lidar.

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I'm glad you found a solution.

The question you point at appears to use the laserscan_multi_mergerfrom

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-10-03 11:26:01 -0500 )edit

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Asked: 2021-09-30 11:24:55 -0500

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Last updated: Oct 03 '21