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slam_gmapping: gmapping

Package Summary

This package contains GMapping, from OpenSlam, and a ROS wrapper. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot. This package uses r39 from GMapping SVN repsitory at openslam.org, with minor patches applied to support newer versions of GCC and OSX.

slam_gmapping: gmapping

Package Summary

This package contains GMapping, from OpenSlam, and a ROS wrapper. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot. This package uses r39 from GMapping SVN repsitory at openslam.org, with minor patches applied to support newer versions of GCC and OSX.

slam_gmapping: gmapping

Package Summary

This package contains GMapping, from OpenSlam, and a ROS wrapper. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot. This package uses r39 from GMapping SVN repsitory at openslam.org, with minor patches applied to support newer versions of GCC and OSX.

slam_gmapping: gmapping

Package Summary

This package contains GMapping, from OpenSlam, and a ROS wrapper. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot. This package uses r39 from GMapping SVN repsitory at openslam.org, with minor patches applied to support newer versions of GCC and OSX.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping: gmapping | openslam_gmapping

Package Summary

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

External Documentation

This is mostly a third party package; the underlying GMapping library is externally documented. Look there for details on many of the parameters listed below.

Hardware Requirements

To use slam_gmapping, you need a mobile robot that provides odometry data and is equipped with a horizontally-mounted, fixed, laser range-finder. The slam_gmapping node will attempt to transform each incoming scan into the odom (odometry) tf frame. See the "Required tf transforms" for more on required transforms.

Example

To make a map from a robot with a laser publishing scans on the base_scan topic:

rosrun gmapping slam_gmapping scan:=base_scan

Nodes

slam_gmapping

The slam_gmapping node takes in sensor_msgs/LaserScan messages and builds a map (nav_msgs/OccupancyGrid). The map can be retrieved via a ROS topic or service.

Subscribed Topics

tf (tf/tfMessage) scan (sensor_msgs/LaserScan)

Published Topics

map_metadata (nav_msgs/MapMetaData) map (nav_msgs/OccupancyGrid) ~entropy (std_msgs/Float64)

Services

dynamic_map (nav_msgs/GetMap)

Parameters

~inverted_laser (string, default: "false") ~throttle_scans (int, default: 1) ~base_frame (string, default: "base_link") ~map_frame (string, default: "map") ~odom_frame (string, default: "odom") ~map_update_interval (float, default: 5.0) ~maxUrange (float, default: 80.0) ~sigma (float, default: 0.05) ~kernelSize (int, default: 1) ~lstep (float, default: 0.05) ~astep (float, default: 0.05) ~iterations (int, default: 5) ~lsigma (float, default: 0.075) ~ogain (float, default: 3.0) ~lskip (int, default: 0) ~minimumScore (float, default: 0.0) ~srr (float, default: 0.1) ~srt (float, default: 0.2) ~str (float, default: 0.1) ~stt (float, default: 0.2) ~linearUpdate (float, default: 1.0) ~angularUpdate (float, default: 0.5) ~temporalUpdate (float, default: -1.0) ~resampleThreshold (float, default: 0.5) ~particles (int, default: 30) ~xmin (float, default: -100.0) ~ymin (float, default: -100.0) ~xmax (float, default: 100.0) ~ymax (float, default: 100.0) ~delta (float, default: 0.05) ~llsamplerange (float, default: 0.01) ~llsamplestep (float, default: 0.01) ~lasamplerange (float, default: 0.005) ~lasamplestep (float, default: 0.005) ~transform_publish_period (float, default: 0.05) ~occ_thresh (float, default: 0.25) ~maxRange (float)

Required tf Transforms

<the frame attached to incoming scans>base_link base_linkodom

Provided tf Transforms

mapodom


2019-10-12 12:38