hector slam (Neato XV-11) map jumping
I use hector SLAM and Neato xv-11 LIDAR. There is problem that the map will jump when the location jumps even the robot doesn't move. (I have a picture of this but has not enough points to attach). I had played with some of the parameters, and even tried to stop publishing the slam_out_pose message when this pose (the location) change too much, some time it works, but it never works all the way.
The jumping mostly happens when there is warning "SearchDir angle change too large".
The neato Lidar ranges from 0.15m to 6m. I had tested it and it has some invalid data, anyway, I think it should survive with that.
I have no knowledge of SLAM. It seems I am just looking for lucky as I go around the code blindly. Looking forward your help.
Thanks.
Tao Wang