2D map using LIDAR

[rit2014006]

How can i build a 2D map using a LIDAR? Robot i am using is a PIONEER LX.

[matlabbe]

Hi,

If you have only a LIDAR with no rgbd camera, look for gmapping, google cartographer or hector_slam packages.

If you have a RGB-D camera, you can use RTAB-Map. See Kinect+Odometry+2D Laser setup for an example.

cheers,
Mathieu

[matlabbe]

Update:

It is now possible to use only lidar with rtabmap without a camera. We should explicitly set subscribe_depth and subscribe_rgb to false.

The odometry can come from the robot, rtabmap_ros/icp_odometry node or another lidar-based odometry approach (like hectorslam). The setup would be similar to this config but without the camera (change this to name="subscribe_rgb" type="bool" value="false"): http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_2D_laser 

The disadvantage of not using a camera is that visual loop closure detection will be disabled. Proximity detection based on lidar will still work, so small loop closures could be closed.

Here another examples with a 3D lidar (see this post with an ouster bag):
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_ouster.launch
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_ouster_gen2.launch
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_velodyne.launch