I have some question regarding Gmapping. I would like to know when to use it. I have a sensor package consist of Laser range finder, IMu and Camera. I was using amcl for the robot pose estimation. I do not have encoders(odometry) so was using IMU for the ICP in the laser scan matcher node. So I had an option oof using Gmapping , but I actually used the amcl with the laser scans. Any explanation of Gmapping??
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