[ros-users] probabilities of OccupancyGrid
Brian Gerkey
gerkey at willowgarage.com
Fri Jan 7 17:13:40 UTC 2011
On Fri, Jan 7, 2011 at 5:33 AM, Stefan Kohlbrecher
<stefan.kohlbrecher at 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.
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