This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

slam_gmapping is a wrapper around the GMapping SLAM library. It reads laser scans and odometry and computes a map. This map can be written to a file using e.g.

"rosrun map_server map_saver static_map:=dynamic_map"

ROS topics

Subscribes to (name/type):

Publishes to (name/type):


ROS parameters

Reads the following parameters from the parameter server

Parameters used by our GMapping wrapper:

Parameters used by GMapping itself:

Laser Parameters:

Motion Model Parameters (all standard deviations of a gaussian noise model)


Likelihood sampling (used in scan matching)

Initial map dimensions and resolution:

Author(s): Brian Gerkey
autogenerated on Sat Oct 3 2020 03:58:29