ROS GMAPPING
Description
Create a 2-D occupancy grid map (similar to a building floor plan) from a laser 2D scan and pose data collected by a mobile robot.
GGG Empty?
Examples
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Input List
There are 2 parameters.
| Port Name | Message type | Callback |
|---|---|---|
dynamic_map | GetMap [nav_msgs-ROS1/ServiceServer][nav_msgs-ROS1/ServiceServer] | |
scan | LaserScan [sensor_msgs-ROS1/Subscriber][sensor_msgs-ROS1/Subscriber] |
Output List
There are 3 parameters.
| Port Name | Message type |
|---|---|
| entropy | Float64 [std_msgs-ROS1/Publisher][std_msgs-ROS1/Publisher] |
| map | OccupancyGrid [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher] |
| map_metadata | MapMetaData [nav_msgs-ROS1/Publisher][nav_msgs-ROS1/Publisher] |
Parameter List
There are 36 parameters.
| Parameter | Description |
|---|---|
| angularUpdate | |
| astep | |
| base_frame | |
| delta | |
| iterations | |
| kernelSize | |
| lasamplerange | |
| lasamplestep | |
| linearUpdate | |
| llsamplerange | |
| llsamplestep | |
| lsigma | |
| lskip | |
| lstep | |
| map_frame | |
| map_update_interval | |
| maxRange | |
| maxUrange | |
| minimumScore | |
| occ_thresh | |
| odom_frame | |
| ogain | |
| particles | |
| resampleThreshold | |
| sigma | |
| srr | |
| srt | |
| str | |
| stt | |
| temporalUpdate | |
| throttle_scans | |
| transform_publish_period | |
| xmax | |
| xmin | |
| ymax | |
| ymin |