Hello,
I'm trying to make a benchmark between GMAPPING and Cartographer SLAM alghoritms.
I have made 2D maps with gmapping and cartographer on ROS kinetic.(occupancy grid map format , i have saved maps with map_saver)
I need a roadmap about how to compare maps. Also I have to make a ground-truth map and compare the maps against this ground truth map.
My questions;
1. How can I make a ground truth map, which tools can be used?
2. How can I compare pgm files(maps) I know that first I have to allign my maps and then compare but how?
Thanks for your help.
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