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/map and /odom after mapping the environment

asked 2012-02-07 05:50:24 -0500

karthik gravatar image

updated 2012-02-07 07:30:01 -0500


1. I have managed to build a map using turtlebot simulator in gazebo and I see that the building of map is rather bad. I hope its because of the odometry instability in gazebo. Or am i missing something here. Any tricks to build a better map.

Note: I used the one that is available in turtlebot_navigation here.

2 I see that the tf's of /map and /odom after building the map are quite separated. Does this confirm my assumption that the odometry is not stable for the turtlebot simulation.

3 In that case can anyone suggest me a good robot model that has stable odometry.

Thanks, Karthik

Bad mapping: For example there are 4 tables in a room. When i move around the robot i see that after multiple scans of the same obstacle, the shape (occupied region) reduces to less than half and at times counts the actually occupied region to be free space.

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What do you mean by bad? Is the map not self-consistent? Are angles/distances, etc inaccurate? Is the map just noisy? There are lots of factors that will affect the quality of a map, and problems with different factors can manifest themselves in different ways.
Dan Lazewatsky gravatar imageDan Lazewatsky ( 2012-02-07 06:55:36 -0500 )edit
Diaz: Added the issue to my question
karthik gravatar imagekarthik ( 2012-02-07 07:30:31 -0500 )edit

2 answers

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answered 2012-02-07 06:14:47 -0500

DimitriProsser gravatar image

I can't speak for the accuracy of the Turtlebot simulator, but I can say that I've used the erratic_robot stack with a good deal of success.

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Ok... actually i need kinect to be there for my project. So can how do i add kinect to the erratic_robot. Do you think that can change the efficiency.
karthik gravatar imagekarthik ( 2012-02-07 07:26:01 -0500 )edit
You can just copy snippets of the turtlebot's kinect.launch and add it to the erratic robot.
DimitriProsser gravatar imageDimitriProsser ( 2012-02-07 07:40:05 -0500 )edit

hi, dear @DimitriProsser, how to use the slam navigation? just run the two files: move_base_slam.launch and slam_gmapping.launch is ok?

asimay_y gravatar imageasimay_y ( 2016-08-25 05:06:28 -0500 )edit

answered 2014-08-06 09:04:09 -0500

zsaigol gravatar image

Not sure if you've got the same issue I had - but my fix here was to set the minimumScore parameter to a very large value.

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Asked: 2012-02-07 05:50:24 -0500

Seen: 782 times

Last updated: Aug 06 '14