gmapping with multiple lidars

Question

we have used a single lidar with slam-gmapping but now we want to extend this with multiple lidars (around 4 sick lidars). is there anyway to maybe merge the data together and continue using slam-gmapping (as ive read AMCL can subscribe to two LaserScan topics and combine it into one topic but would this be feasible).

otherwise is it advisable to have a gmapping node for each lidar and then combine the costmap created

Or alternatively use octomap to input all the data to one map and create a cost map

what would be the best approach?

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Originally posted by rajnunes on ROS Answers with karma: 73 on 2017-05-08

Post score: 0

Answer 1

You can use cob_scan_unifier for this. I am using for with two 270° scanners.

Here is example launch file.

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Originally posted by destogl with karma: 877 on 2018-07-25

This answer was ACCEPTED on the original site

Post score: 0