This is a ROS package for creating a simple Occumapancy Grid map from /scan data.
You can run this algorithm along with TurtleBot3 ros packages. Look at TurtleBot3 for the instructions to
download the respective dependencies and ros-packages.
For the purpose of this example you will need the:
turtlebot3-slam (using gmapping side-by-side to compare)
turtlebot3-navigation (for /move_base and /amcl node.)
turtlebot3-simulation (house environment). Also install the explore_lite pakage for
frontier based exploratio or our environment, instead of using turtlebot3_teleop node.
Run the following roslaunch:
roslaunch turtlebot3_gazebo turtlebot3_house.launch
roslaunch turtlebot3_slam turtlebot3_slam.launch
roslaunch lidar_explore lidar_mapping.launch
Dublicate the Map display option in Rviz and subscribe it to /map_laser topic to view our auxiliary map.
roslaunch explore_lite explore.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch open_rviz:=false
Out output OccumapancyGrid map will look something like this: