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 |
|---|---|---|
| GetMap [nav_msgs-ROS1/ServiceServer][nav_msgs-ROS1/ServiceServer] | |
| 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 |