# openslam_gmapping

**Repository Path**: landersu/openslam_gmapping

## Basic Information

- **Project Name**: openslam_gmapping
- **Description**: The catkinized verseion of openslam_gmapping package
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 4
- **Created**: 2025-07-27
- **Last Updated**: 2025-07-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# openslam_gmapping

#### 介绍

基于ros的 openslam_gmapping 包

GMapping是一种高效的Rao粒子滤波器，用于从激光测距数据中构建栅格地图。

#### 软件架构
软件架构说明

openslam_gmapping

文件内容:
```
openslam_gmapping/
├── build_tools
│   ├── generate_shared_object
│   ├── Makefile.app
│   ├── Makefile.generic-shared-object
│   ├── Makefile.subdirs
│   ├── message
│   ├── pretty_compiler
│   └── testlib
├── carmenwrapper
│   ├── carmenwrapper.cpp
│   └── Makefile
├── CHANGELOG.rst
├── CMakeLists.txt
├── configfile
│   ├── configfile.cpp
│   ├── configfile_test.cpp
│   ├── demo.cfg
│   ├── Makefile
│   └── test.ini
├── configure
├── docs
│   ├── Instructions.txt
│   ├── scanmatcher.tex
│   └── userver.txt
├── gfs-carmen
│   ├── gfs-carmen.cpp
│   └── Makefile
├── grid
│   ├── graphmap.cpp
│   ├── Makefile
│   └── map_test.cpp
├── gridfastslam
│   ├── gfs2log.cpp
│   ├── gfs2neff.cpp
│   ├── gfs2rec.cpp
│   ├── gfs2stat.cpp
│   ├── gfs2stream.cpp
│   ├── gfsreader.cpp
│   ├── gridslamprocessor.cpp
│   ├── gridslamprocessor_tree.cpp
│   ├── Makefile
│   └── motionmodel.cpp
├── gui
│   ├── gfs2img.cpp
│   ├── gfs_logplayer.cpp
│   ├── gfs_nogui.cpp
│   ├── gfs_simplegui.cpp
│   ├── gsp_thread.cpp
│   ├── Makefile
│   ├── qgraphpainter.cpp
│   ├── qmappainter.cpp
│   ├── qnavigatorwidget.cpp
│   ├── qparticleviewer.cpp
│   ├── qpixmapdumper.cpp
│   └── qslamandnavwidget.cpp
├── include
│   └── gmapping
├── ini
│   ├── gfs-LMS-10cm.ini
│   ├── gfs-LMS-20cm.ini
│   ├── gfs-LMS-5cm.ini
│   ├── gfs-PLS-10cm.ini
│   └── gfs-PLS-5cm.ini
├── log
│   ├── carmenconfiguration.cpp
│   ├── configuration.cpp
│   ├── log_plot.cpp
│   ├── log_test.cpp
│   ├── Makefile
│   ├── rdk2carmen.cpp
│   ├── scanstudio2carmen.cpp
│   ├── sensorlog.cpp
│   └── sensorstream.cpp
├── Makefile
├── manual.mk
├── manual.mk-template
├── package.xml
├── particlefilter
│   ├── Makefile
│   ├── particlefilter.cpp
│   ├── particlefilter_test.cpp
│   └── range_bearing.cpp
├── scanmatcher
│   ├── eig3.cpp
│   ├── icptest.cpp
│   ├── Makefile
│   ├── scanmatcher.cpp
│   ├── scanmatcher.new.cpp
│   ├── scanmatcherprocessor.cpp
│   ├── scanmatch_test.cpp
│   └── smmap.cpp
├── sensor
│   ├── Makefile
│   ├── sensor_base
│   ├── sensor_odometry
│   └── sensor_range
├── setlibpath
├── TODO.txt
└── utils
    ├── autoptr_test.cpp
    ├── Makefile
    ├── movement.cpp
    ├── printmemusage.cpp
    ├── stat.cpp
    └── stat_test.cpp

```

#### 安装教程

1.下载rpm包

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-openslam_gmapping-0.2.1-0.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-openslam_gmapping-0.2.1-0.oe2203.x86_64.rpm 

2.安装rpm包

aarch64:

sudo rpm -ivh ros-noetic-ros-openslam_gmapping-0.2.1-0.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-openslam_gmapping-0.2.1-0.oe2203.x86_64.rpm --nodeps --force

#### 使用说明

依赖环境安装:

sh /opt/ros/noetic/install_dependence.sh

安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功

输出:
```
openslam_gmapping/
├── cmake.lock
├── env.sh
├── lib
│   ├── libconfigfile.so
│   ├── libgridfastslam.so
│   ├── liblog.so
│   ├── libscanmatcher.so
│   ├── libsensor_base.so
│   ├── libsensor_odometry.so
│   ├── libsensor_range.so
│   ├── libutils.so
│   ├── openslam_gmapping
│   └── pkgconfig
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── openslam_gmapping

```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


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