gmapping 功能包
std_msgs/Header header
uint32 seq
time stamp
string frame_id
nav_msgs/MapMetaData info
time map_load_time
float32 resolution
uint32 width
uint32 height
geometry_msgs/Pose origin
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
基于激光雷达
Rao-Blackwellized 粒子滤波算法
二维栅格地图
需要机器人提供里程计信息
kinetic@vm:~$ rosmsg show nav_msgs/OccupancyGridOpenSlam开源算法
输出地图话题:nav_msgs/OccupancyGrid
std_msgs/Header header
uint32 seq
time stamp
string frame_id
nav_msgs/MapMetaData info
time map_load_time
float32 resolution
uint32 width
uint32 height
geometry_msgs/Pose origin
geometry_msgs/Point position
float64 x
float64 y
float64 z
geometry_msgs/Quaternion orientation
float64 x
float64 y
float64 z
float64 w
int8[] data
参考:http://openslam.org/gmapping.html