G. Grisetti, C. Stachniss and W. Burgard, "Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters," in IEEE Transactions on Robotics, vol. 23, no. 1, pp. 34-46, Feb. 2007, doi: 10.1109/TRO.2006.889486.
The most codes in this repository were adapted from here, while the original codes of gmapping can be found here. Note that most redundant codes in the original repository were not kept and I used more modern C++ to rewrite the codes in Google style.
mkdir -p ~/laser_slam_ws/src
cd ~/laser_slam_ws/src/
git clone [email protected]:TongLing916/gmapping_clean.git
cd ..
catkin_make -j# Terminal 1
cd ~/laser_slam_ws
source devel/setup.bash
roslaunch gmapping gmapping_sim.launch# Terminal 2
cd ~/laser_slam_ws/src/gmapping_clean/data
rosbag play --clock gmapping.bag# Terminal 3
rosrun rviz rviz