Occumapancy Grids from laser scans.

This is a ROS package for creating a simple Occumapancy Grid map from /scan data.

Instruction to use:

You can run this algorithm along with TurtleBot3 ros packages. Look at TurtleBot3 for the instructions to download the respective dependencies and ros-packages.

For the purpose of this example you will need the: turtlebot3-slam (using gmapping side-by-side to compare) turtlebot3-navigation (for /move_base and /amcl node.) turtlebot3-simulation (house environment). Also install the explore_lite pakage for frontier based exploratio or our environment, instead of using turtlebot3_teleop node.

Run the following roslaunch:

roslaunch turtlebot3_gazebo turtlebot3_house.launch

roslaunch turtlebot3_slam turtlebot3_slam.launch 

roslaunch lidar_explore lidar_mapping.launch

Dublicate the Map display option in Rviz and subscribe it to /map_laser topic to view our auxiliary map.

roslaunch explore_lite explore.launch

roslaunch turtlebot3_navigation turtlebot3_navigation.launch open_rviz:=false

Output:

Out output OccumapancyGrid map will look something like this: