grid-mapping-in-ROS

Creating Occupancy Grid Maps using Static State Bayes filter and Bresenham's algorithm for mobile robot (turtlebot3_burger) in ROS.

• bagfiles are created by manually driving the robot with turtlebot3_teleop, topics recorded: '/scan' and '/odom'
• grid maps can be created from bagfiles using create_from_rosbag.py
• grid maps can be created in real time using rtime_gmapping_node.py

Content

• bagfiles -> folder containing recorded rosbag files
• maps -> folder containing images of Gazebo maps as well as output grid maps
• papers -> materials used for the project
• scripts -> python scripts

Results