Todo List

Member SlamGMapping::initMapper (const sensor_msgs::LaserScan &scan)

Expose setting an initial pose

Check these calls; in the gmapping gui, they use llsamplestep and llsamplerange intead of lasamplestep and lasamplerange. It was probably a typo, but who knows.

Member SlamGMapping::updateMap (const sensor_msgs::LaserScan &scan)

Sort out the unknown vs. free vs. obstacle thresholding