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Hello

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??

Thanks


Originally posted by Astronaut on ROS Answers with karma: 330 on 2012-11-29

Post score: 0

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  • AMCL is a localization method that localizes your robot in a previously known map.
  • Gmapping is a SLAM (simultaneous localization and mapping) method that simultaneously generates a map and localizes your robot in it.

In a nutshell (for details on the difficulties of the SLAM problem see for example this overview paper), SLAM can be more brittle than pure localization as the map used for localization is not static.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2012-11-29

This answer was ACCEPTED on the original site

Post score: 6

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