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When to use Gmapping??

gmapping

asked 2012-11-29 17:40:08 -0500

Astronaut
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Hello

I have some question regarding Gmapping. I would like to know when to use it. I have a sensor package consist of Laser range finder, IMu and Camera. I was using amcl for the robot pose estimation. I do not have encoders(odometry) so was using IMU for the ICP in the laser scan matcher node. So I had an option oof using Gmapping , but I actually used the amcl with the laser scans. Any explanation of Gmapping??

Thanks

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answered 2012-11-29 19:59:26 -0500

Stefan Kohlbrecher

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AMCL is a localization method that localizes your robot in a previously known map.
Gmapping is a SLAM (simultaneous localization and mapping) method that simultaneously generates a map and localizes your robot in it.

In a nutshell (for details on the difficulties of the SLAM problem see for example this overview paper), SLAM can be more brittle than pure localization as the map used for localization is not static.

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Asked: 2012-11-29 17:40:08 -0500

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Last updated: Nov 29 '12

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