This program demonstrates the whole process of using lidar to construct a map.

We have tested in Ubuntu 18.04, but it should be easy to compile in other platforms.

You can install qt4 in Ubuntu by:

sudo apt-get install qt5-default qtcreator

qmake Simulation.pro
make

you can run this program by:

./Simulation

Keyboard:

• up_arrow - move forward
• down_arrow - move backward
• left_arrow - turn left
• right_arrow - turn right

Mouse:

• Right click - remove obstacles
• Left click - add obstacles