Here is the method to build a grid map and get rid of the laser distortion

A brief ROS bag for test.

mkdir src
cd src
git clone https://github.com/BIT-MJY/occupancy_grid_mapping.git 
cd ..
catkin_make
source devel/setup.bash
roslaunch occupancy_grid_mapping ogm.launch bag_filename:=/home/mjy/dev/occupancy_grid_mapping/2020-10-25-19-34-25.bag

source devel/setup.bash
roslaunch occupancy_grid_mapping test_ogm.launch bag_filename:=/home/mjy/dev/occupancy_grid_mapping/2020-10-25-19-34-25.bag

ogm.launch

• <arg name = "map_size_x" default = "500"/> Number of grids in x direction
• <arg name = "map_size_y" default = "500"/> Number of grids in y direction
• <arg name = "resolution" default = "0.1"/> Resolution (m/grid)
• <arg name = "calibration" default = "true"/> Whether to remove distortion

Junyi Ma, Beijing Institute of Technology