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.