Laser_RobMap: An open source ROS2 compatible tool for 3D mapping using a Mobile Robot and 2D LiDAR

Abstract

We propose a tool for implementing a low-cost 3D mapping system using a vertically mounted 2D LiDAR sensor on a mobile robot, compatible with ROS2. The tool adapts to any ROS2-enabled robot that provides inertial and odometry data, with configurable parameters to optimize performance on systems with limited computational resources. Its main objective is to deliver a cost-effective 3D mapping solution for autonomous navigation using 3D SLAM. The results can be exported as 3D point clouds in PCD, LAS, and PLY formats, with an optional voxelization feature for efficient data management.