You can use Gmapping, It performs SLAM with odometry and 2D laser scanner. It gives the 2D map and entropy as well. You can change the parameters inside the programs or in
Originally posted by Gayan Brahmanage with karma: 929 on 2018-04-09
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Comment by Georgee on 2018-04-09:
Inputs for Gmapping are tf (tf/tfMessage) and scan (sensor_msgs/LaserScan), and I would like to use my 2D PointCloud plane. Any alternatives?
Thanks for your help.
Comment by gvdhoorn on 2018-04-09:
Not pushing you to use
gmapping, but there is something called pointcloud_to_laserscan.
Comment by Georgee on 2018-04-10:
Thanks for your answer @gvdhoorn , but it doesn't seem to match what I'm looking for. What I have is a dataset of points that represent a plane (for indoor purposes, to be more precise, e.g a table or a wall) and I need to know how probable it is for the robot to wander through that plane.
Comment by gvdhoorn on 2018-04-10:
My comment was in response to your "I have a pointcloud, not a laser scanner" comment earlier.