X-lanni
18 lines
833 B
Markdown
18 lines
833 B
Markdown
# SLAM_GMAPPING
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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.
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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.
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## Launch:
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```bash
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ros2 launch slam_gmapping slam_gmapping.launch.py
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```
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The node slam_gmapping subscribes to sensor_msgs/LaserScan on ros2 topic ``scan``. It also expects appropriate TF to be available.
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It publishes the nav_msgs/OccupancyGrid on ``map``.
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Map Meta Data and Entropy is published on ``map_metadata`` and ``entropy`` respectively.
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