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Gmapping map is not alinged with the laser data and robot discription

Hello,

I'm a newbie for ROS. Currently i'm trying to use Hokuyo URG sensor to make a map by a mobile robot. I checked the odometry of the robot and for me, it seems correct. Plus i was using Encorder + IMU through EKF. Somehow at the end i got a map which is not aligned with laser data like in following picture. Can you guys suggest me the reason why this is happening? thanks alot!

image description

Asked by Shashika on 2018-03-18 20:59:51 UTC

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