Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Not sure if GMapping supports multiple laser range finders, but slam_karto (aka Open Karto) definitely does. But it's not well documented on the ROS wiki unfortunately.

You can install it from Debian packages, e.g. ros-indigo-slam-karto, but I would also look at the GitHub repo: https://github.com/ros-perception/slam_karto

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.