[Playerstage-users] Existing code for SLAM in Player?

[Julian de H. <ju...@de...>]

Dear all,

I'm using Player / Stage to implement some multi-robot exploration algorithms that I hope to port to real Pioneer robots (with Hokuyos mounted) in late February.  While localization and mapping is important, I'm more interested in the exploration aspects.  I'm hoping to find a decent SLAM system that I can implement fairly straightforwardly using the Hokuyo data.

I have already implemented gmapping from OpenSLAM (http://openslam.org/), but as the documentation suggests, this does not work great with a Hokuyo in fairly open spaces.

Does anyone have any suggestions for a decent SLAM system that is fairly straightforward to plug into Player / Stage?  Any advice / suggestions are much appreciated.

Best regards,

Julian