X-lanni
d0688eb122
1. LSLiDAR driver: - Fixed packet header check in serial parser - Updated angle compensation for M10 series - Fixed angle discontinuity bug - Added optional PointCloud2 publishing - Added optional LaserScan publishing - Added support for ROS 2 Humble - Added support for dual-echo LiDARs - Added TXT-based config loading 2. RViz: - Updated gmapping.rviz file for SLAM display 3. AGV bringup: - Modified launch file for LSN10P integration
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:
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.