We were able to map the LIDAR data received from the cRIO into our own MAP structure. This is one of the first steps to path planning and it is very exciting that we are almost there. The map is currently in the coordinates of the robot and the next step is to translate it into the coordinates of the global map. See the image below showing the LIDAR data taken in the corner of a hallway next to our lab. The obstacles in the center of each path are garbage cans.

Lidar Map