Hi,

have a look at slam_gmapping.cpp lines 621 to 633. This is the loop
that fills the OccupancyGrid message with data coming from gmapping.
Currently, there are only simple checks if the cells are occupied (set
to 100) , free (set to 0) or unknown (set to -1). This is where you
could do something more sophisticated.

regards,
Stefan

2011/1/7 eunchul Jeon <jsharp83@gmail.com>:
> I want to know probabilities of OccupancyGrid
> In the document, OccupancyGrid.msg has int8[] data. and It has value from 0
> to 100.
>
> However, When I use slam_gmapping in gmapping with basic data
> "basic_localization_stage.bag",
> I just see the value -1, 0, and 100. there is no other value like 10, 50.
> Is it right?
>
>
>
> --
> ================================================
> Eunchul Jeon
>
> M.S. Student, Intelligent Systems and Neurobotics lab,
> Dept. Computer Science, KAIST
> Science town, Daejeon, 305-701, South Korea
> TEL: 82 42 350 3580
> E-mail: jsharp@kaist.ac.kr, jsharp83@gmail.com
> Homepage: http://isnl.kaist.ac.kr
> ================================================
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>