On Fri, Jan 7, 2011 at 5:33 AM, Stefan Kohlbrecher
<stefan.kohlbrecher@googlemail.com> wrote:
> 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.

I'd welcome a patch that does something smarter there.

	brian.