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 openslam.org, with
minor patches applied to support newer versions of GCC and OSX.
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.