2D map with stationary LIDAR

Question

I'm trying to make a 2D map of a room. This is a project for learning ROS in the first place, so there's no robot involved. I just want to be able to make a map from either my laserscan data or pc2 data. I'm using the Scanse Sweep LIDAR, and I'm able to view live data in rviz. Can I use gmapping, and input static odometry data, or is Hector mapping better in this case?

Thanks in advance

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Originally posted by stianjoer on ROS Answers with karma: 3 on 2018-10-18

Post score: 0

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Original comments

Comment by abdullahsindhu on 2018-11-14:
Hi I am also working on making a 2D map of a room kindly explain me some steps to follow they will be help me in my undergrad project Thanks Regards Abdullah Sindhu

Answer 1

With gmapping just adding a static frame for odometry isn't enough because you have paramaters like :

~linearUpdate (float, default: 1.0)
    Process a scan each time the robot translates this far 

~angularUpdate (float, default: 0.5)
    Process a scan each time the robot rotates this far 

your map would be updated only if you move, and I'm pretty sure there are other params like that. You can check #q63457, they already discussed about gmapping without odom.

So yes, hector_mapping is exactly what you are looking for.

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Originally posted by Delb with karma: 3907 on 2018-10-18

This answer was ACCEPTED on the original site

Post score: 1

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Original comments

Comment by stianjoer on 2018-10-18:
Thank you!