FAST_LIO

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Hi,

I'm trying to generate a map using slam_gmapping, but I cannot get it to work. I'm a newbie in ROS, and I'm unsure if I'm using the best approach with gmapping to achieve 2D point-and-click navigation on RViz.

I'm using a Livox Mid-360 LiDAR on a 4WD direct-drive rover controlled by a Roboclaw controller without encoders. I'm using FAST_LIO to obtain odometry and pointcloud_to_laserscan to convert point cloud data to 2D laser scan. However, I'm encountering difficulties getting slam_gmapping to function.

Could you please suggest an alternative method to achieve 2D point-and-click navigation using your code?

Thank you.