how can I build probability maps with gmapping
I want build probability maps, but I find that gmapping can only generate maps with 3 values (unknown, free and obstacle). How can gmapping work with probablility maps. Thank you. Further, I change source code, but it doesn't work too.
the code I changed is below: if(occ < 0) map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = -1; else map_.map.data[MAP_IDX(map_.map.info.width, x, y)] = (int)round(occ*100.0);