Revision history [back]

I have not used the gmapping package. However, looking at the wiki page, it seems that it requires sensor_msgs/LaserScan type of data. The Intel RealSense D435 does not produce such type of data. While looking at the depthimage_to_laserscan package, which takes a depth image and generates a 2D laser scan, we should be able to run gmapping. You need to subscribe to the following topics:

• image: /camera/depth/image_raw
• camera_info: /camera/depth/camera_info

The DepthImageToLaserScanNodelet nodelet will publish on scan topic which should be the input for gmapping package.

I do not have D435 at hand right now, therefore the image and camera_info topics may be incorrect. Please check them from terminal.