Yeah, I saw that reply, thank you.

Joining efforts seems like a good plan, but let me get back to you on monday
after I have a chance to look at the slam_gmapping code.

Thanks again.

-Aaron

On 03/05/2011 03:21 PM, Ivan Dryanovski wrote:
> Hi Aaron,
> 
> I just replied to your question in answers.ros.org. I suggested two
> things, and it looks like we are thinking along the same lines.
> 
> I strongly agree that the best way to do this is to modify
> slam-gmapping to accept point clouds. The benefiits of this are many:
>  - doing slam with mutliple lasers
>  - doing slam with lasers with varying tilt/roll, for example, on quadrotors
>  - doing slam with non-laser sensors directly (kinect)
> 
> In my research, I have had to hack slam-gmapping to go around these
> limitations. If you are interested, perhaps we should join efforts,
> and maybe get the gmapping- developers on board, to rewrite the
> gmapping wrapper to provide for PointClouf input efficiently.
> 
> Ivan
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