This page lists changes that were made in the 1.1.x series of slam_gmapping (C Turtle Alpha).
Added transform logic to support upside-down lasers <<Ticket(ros-pkg 3052)>>. Still needs to be tested on a real robot with an upside-down laser.
Corollary: removed inverted_laser parameter.
- Changed tests to use new indexed bag files
- Added publication of filter entropy, for use in SLAM-aware exploration.
Added ~occ_thresh parameter, to allow control over when a cell is determined to be occupied.