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Is it possible to use Turtlebot panorama while Gmapping?


I am currently working with a p3dx and I am trying to implement a node that do both, gmapping an area and takes panorama in certain points of a map with the turtlebot panorama demo.

Tutlebot panorama API

Turtlebot panorama demo

The thing is that I do not know if it is possible to do both at the same time or I will need to stop one of then to start the other.