# slam_gmapping2

**Repository Path**: fluffing/slam_gmapping2

## Basic Information

- **Project Name**: slam_gmapping2
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: eloquent-devel
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-05-13
- **Last Updated**: 2024-05-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# SLAM_GMAPPING

SLAM(Simultaneous Localization and Mapping) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it.

This contains package ```openslam_gmapping``` and ```slam_gmapping``` which is a ROS2 wrapper for OpenSlam's Gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

## Launch:

```bash
ros2 launch slam_gmapping slam_gmapping.launch.py
```

The node slam_gmapping subscribes to sensor_msgs/LaserScan on ros2 topic ``scan``. It also expects appropriate TF to be available.

It publishes the nav_msgs/OccupancyGrid on ``map``. 

Map Meta Data and Entropy is published on ``map_metadata`` and ``entropy`` respectively.