web - SLAM ROS How to make a map and visualise realtime on web using rosnodejs?

Question

I want to slam and show map on web. Now i developed the website by using rosnodejs and websocket connection. I want to know how can I make a realtime map? Any suggestion?

Answer 1

You can use any SLAM package, for instance gmapping, karto, or cartographer. They will produce maps published in the OccupancyGrid format. Your rosnodejs server code can subscribe to that topic and send it your web-clients via your websockets. On the client I recommend using leaflet, or, if you are using React, react-leaflet.

This is the pipeline I've used several times and it works really well!