creating a map from laser scan

i am going to make my own map code in python using the math of occupancy grid mapping (not the ready packages such as gmapping), and then i use the node for mapping the gazebo environment using turtlebot3. i will be appreciated if someone has the occupancy grid mapping python code, and how can i illustrate the map published via the node in rviz? thank you in advance.

Asked by peyman1372 on 2022-04-18 07:23:54 UTC

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Answers

There is a really nice repository called PythonRobotics - there you can check how to implement some of the mapping algorithms (no ROS):

https://github.com/AtsushiSakai/PythonRobotics/tree/master/Mapping

This article here can be helpful too (with ROS):

https://towardsdatascience.com/occupancy-grid-mapping-with-webots-and-ros2-a6162a644fab

For displaying this map in RViz - this question has some good hints:

https://answers.ros.org/question/343969/how-to-position-occupancygrid-in-rvis-understanding-tf/

Asked by ljaniec on 2022-04-24 18:11:20 UTC