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Robot Operating System Cookbook by Kumar Bipin

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Using a Laser Rangefinder – Hokuyo

Range sensing is a crucial element of any environment and obstacle mapping system for mobile robotics applications. Sensors that are suitable for the environment and obstacle mapping include 2D Ladar and 3D Ladar. However, a cost-effective approach for the environment and obstacle mapping is to mount a 2D laser scanner that is aimed forward and downward on the front end of a mobile robot.

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