Docs: explain how to build a 2D map too

docs/source/building-maps.rst

@@ -130,6 +130,24 @@ or from the :ref:`UI controls <mola_lo_gui_common_parts>` in the ``mola_lidar_od
  .. note::
  Remember changing ``--lidar-sensor-label /ouster/points`` to your actual raw (unfiltered) LiDAR topic (``sensor_msgs/PointCloud2``).
 
+.. dropdown:: Building 2D maps
+
+ Until ``mola_2d_mapper`` is released, you can also use the generic LiDAR odometry module to 
+ build 2D maps from range finder (2D scanners).
+
+ Just set the ``PIPELINE_YAML`` environment variable pointing to the 2D mapping pipeline (`lidar2d.yaml <https://github.com/MOLAorg/mola_lidar_odometry/blob/develop/pipelines/lidar2d.yaml>`_)
+ shipped with the ``mola_lidar_odometry`` package:
+
+ .. code-block:: bash
+
+ MOLA_LIDAR_TOPIC=/scan1 \
+ PIPELINE_YAML=$(ros2 pkg prefix mola_lidar_odometry)/share/mola_lidar_odometry/pipelines/lidar2d.yaml \
+ MOLA_GENERATE_SIMPLEMAP=true \
+ MOLA_SIMPLEMAP_OUTPUT=myMap.simplemap \
+ mola-lo-gui-rosbag2 /path/to/your/dataset.mcap
+
+ Remember to change ``/scan1`` to your actual topic name of type ``sensor_msgs/LaserScan``.
+
 
 .. hint::
 

docs/source/solutions.rst

@@ -28,7 +28,7 @@ This functionality is provided by:
  - **Geo-referencing** metric maps with consumer-grade GNSS sensors. See: :ref:`geo-referencing`.
  - Off-line **loop closure** for consistent global maps. (TO-DO: Write docs!)
 
-- ``mola_3d_lidar_slam``: (Coming soon!)
+- ``mola_3d_mapper``: Full SLAM solution. (Coming soon!)
 
 
 .. image:: https://mrpt.github.io/imgs/kaist01_georef_sample.png
@@ -42,7 +42,7 @@ This functionality is provided by:
 Build **georeferenced** consistent global 2D maps from 2D LiDARs.
 This functionality is provided by:
 
-- ``mola_2d_lidar_slam``: (Coming soon!)
+- ``mola_2d_mapper``: Full SLAM solution for 2D LiDARs. (Coming soon!)
 
 
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