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.
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.
Asked: 2012-02-07 11:50:24 -0500
Seen: 196 times
Last updated: Feb 07 '12