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

IF 2.4 4区计算机科学 Q2 COMPUTER SCIENCE, SOFTWARE ENGINEERING

SoftwareX Pub Date : 2025-04-05 DOI:10.1016/j.softx.2025.102142

Daniel D. Yanyachi, Yamir H. Anco-Agüero, German A. Echaiz, Miguel A. Esquivel, Alfredo Mamani-Saico, Pablo R. Yanyachi

引用次数: 0

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.

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来源期刊

SoftwareX COMPUTER SCIENCE, SOFTWARE ENGINEERING-

CiteScore

5.50

自引率

2.90%

发文量

184

审稿时长

9 weeks

期刊介绍： SoftwareX aims to acknowledge the impact of software on today''s research practice, and on new scientific discoveries in almost all research domains. SoftwareX also aims to stress the importance of the software developers who are, in part, responsible for this impact. To this end, SoftwareX aims to support publication of research software in such a way that: The software is given a stamp of scientific relevance, and provided with a peer-reviewed recognition of scientific impact; The software developers are given the credits they deserve; The software is citable, allowing traditional metrics of scientific excellence to apply; The academic career paths of software developers are supported rather than hindered; The software is publicly available for inspection, validation, and re-use. Above all, SoftwareX aims to inform researchers about software applications, tools and libraries with a (proven) potential to impact the process of scientific discovery in various domains. The journal is multidisciplinary and accepts submissions from within and across subject domains such as those represented within the broad thematic areas below: Mathematical and Physical Sciences; Environmental Sciences; Medical and Biological Sciences; Humanities, Arts and Social Sciences. Originating from these broad thematic areas, the journal also welcomes submissions of software that works in cross cutting thematic areas, such as citizen science, cybersecurity, digital economy, energy, global resource stewardship, health and wellbeing, etcetera. SoftwareX specifically aims to accept submissions representing domain-independent software that may impact more than one research domain.