gmapping Documentation

gmapping: GMapping

This package contains GMapping, from OpenSlam, and a ROS wrapper. 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. This package uses r39 from GMapping SVN repsitory at, with minor patches applied to support newer versions of GCC and OSX.

  • Homepage:
  • The gmapping package offers no code-level API. All usage is intended to go through the command-line interface of the slam_gmapping node, which is documented in the wiki.

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    Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard; ROS wrapper by Brian Gerkey
    autogenerated on Fri Jan 11 09:32:07 2013