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SLAM with pcl data ?

2DSLAM
pcl

asked 2013-05-20 22:28:13 -0600

Arkapravo

1098 ●46 ●63 ●71 http://mobotica.blogspot.in/

updated 2014-01-28 17:16:34 -0600

ngrennan
1 ●1 ●1

As of now I am using pcl (3 coordinates to specify a point in space) for obstacle avoidance and it seems to work fine. I wish to know that without converting pcl to laser (pointcloud_to_laserscan package) can I develop SLAM ? I am not entirely sure about developing a 2D map with 3D data, any help or suggestions ?

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answered 2013-05-22 20:40:10 -0600

arp

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updated 2013-05-22 20:43:10 -0600

Hi, The package http://ros.org/wiki/ethzasl_icp_mapping (ethzasl_icp_mapping) might be the one you need. Then you could use this package http://ros.org/wiki/octomap_server (octopmap_server) to get a projected 2D occupancy grid by passing it the registered point cloud from http://ros.org/wiki/ethzasl_icp_mapping (ethzasl_icp_mapping)

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Asked: 2013-05-20 22:28:13 -0600

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Last updated: May 22 '13

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SLAM with pcl data ?