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SLAM with pcl data ?

asked 2013-05-20 22:28:13 -0500

updated 2014-01-28 17:16:34 -0500

ngrennan gravatar image

As of now I am using pcl (3 coordinates to specify a point in space) for obstacle avoidance and it seems to work fine. I wish to know that without converting pcl to laser (pointcloud_to_laserscan package) can I develop SLAM ? I am not entirely sure about developing a 2D map with 3D data, any help or suggestions ?

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answered 2013-05-22 20:40:10 -0500

arp gravatar image

updated 2013-05-22 20:43:10 -0500

Hi, The package http://ros.org/wiki/ethzasl_icp_mapping (ethzasl_icp_mapping) might be the one you need. Then you could use this package http://ros.org/wiki/octomap_server (octopmap_server) to get a projected 2D occupancy grid by passing it the registered point cloud from http://ros.org/wiki/ethzasl_icp_mapping (ethzasl_icp_mapping)

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Asked: 2013-05-20 22:28:13 -0500

Seen: 1,477 times

Last updated: May 22 '13