https://github.com/Project-MANAS/slam_gmapping

Slam Gmapping for ROS2
https://github.com/Project-MANAS/slam_gmapping

gmapping-slam localization mapping robotics ros2 slam

Last synced: about 2 months ago
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Slam Gmapping for ROS2

• Host: GitHub
• URL: https://github.com/Project-MANAS/slam_gmapping
• Owner: Project-MANAS
• Created: 2019-02-05T19:19:18.000Z (almost 6 years ago)
• Default Branch: eloquent-devel
• Last Pushed: 2024-04-30T18:45:31.000Z (9 months ago)
• Last Synced: 2024-08-04T00:03:54.582Z (5 months ago)
• Topics: gmapping-slam, localization, mapping, robotics, ros2, slam
• Language: C++
• Size: 144 KB
• Stars: 117
• Watchers: 5
• Forks: 36
• Open Issues: 13
• Metadata Files:
  • Readme: README.md

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README

        
# SLAM_GMAPPING

SLAM(Simultaneous Localization and Mapping) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

This contains package ```openslam_gmapping``` and ```slam_gmapping``` which is a ROS2 wrapper for OpenSlam's 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.

## Launch:

```bash

ros2 launch slam_gmapping slam_gmapping.launch.py

```

The node slam_gmapping subscribes to sensor_msgs/LaserScan on ros2 topic ``scan``. It also expects appropriate TF to be available.

It publishes the nav_msgs/OccupancyGrid on ``map``. 

Map Meta Data and Entropy is published on ``map_metadata`` and ``entropy`` respectively.