I use ROS2/Python/Gazebo. I need navigation (and mapping) for a tractor on a hill: a rugged surface, so to speak. I can of course project everything on a flat map, but distances will shrink and I think localization and path planning will begin making errors. So, questions:
- What the 2.5d map should be? Triangles mesh instead of plane? Is there a standard?
- How to SLAM it all (and again, what is the output format)?
- And how to navigate it?