Incorrect Gmapping
MY turtlebot can map straight hallways but has trouble mapping while turning. I have tried mapping the corridor between cubicles at work (small spaces!) as well as cubicles. It maps the corridor fine but cannot map the cubicles. Instead of turning out as box shaped, they turn out like a multitude of corners forming a sphere.
Also when it turns around to come back down the corridor it acts as if it is a second corridor. I have changed my gyro_measurement_range to 250 since my turtlebot is from Clearpath and have ran the calibrations as well as changing them internally.
My guess is that the lag is affecting how it updates the map and is causing it to be extremely incorrect. Any thoughts or ideas?
BAGFILE
turtlebot@turtlebot:~/rosbagfiles$ rosbag info 2012-05-23-08-17-03.bagpath: 2012-05-23-08-17-03.bag
version: 2.0
duration: 4:49s (289s)
start: May 23 2012 08:17:04.90 (1337779024.90)
end: May 23 2012 08:21:54.14 (1337779314.14)
size: 34.9 MB
messages: 60655
compression: none [46/46 chunks]
types: actionlib_msgs/GoalStatusArray [8b2b82f13216d0a8ea88bd3af735e619]
app_manager/AppList [8a71ede6bf51909653c7c551f462cb30]
bond/Status [eacc84bf5d65b6777d4c50f463dfb9c8]
diagnostic_msgs/DiagnosticArray [3cfbeff055e708a24c3d946a5c8139cd]
diagnostic_msgs/DiagnosticStatus [67d15a62edb26e9d52b0f0efa3ef9da7]
dynamic_reconfigure/Config [be5ce5fa8101a5199199ac5a9b231457]
dynamic_reconfigure/ConfigDescription [5f0f929417f58ac7f30dfdd9e4d40ef2]
geometry_msgs/PolygonStamped [c6be8f7dc3bee7fe9e8d296070f53340]
geometry_msgs/PoseWithCovarianceStamped [953b798c0f514ff060a53a3498ce6246]
geometry_msgs/Twist [9f195f881246fdfa2798d1d3eebca84a]
nav_msgs/GridCells [b9e4f5df6d28e272ebde00a3994830f5]
nav_msgs/MapMetaData [10cfc8a2818024d3248802c00c95f11b]
nav_msgs/OccupancyGrid [3381f2d731d4076ec5c71b0759edbe4e]
nav_msgs/Odometry [cd5e73d190d741a2f92e81eda573aca7]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/JointState [3066dcd76a6cfaef579bd0f34173e9fd]
sensor_msgs/Joy [5a9ea5f83505693b71e785041e67a8bb]
sensor_msgs/LaserScan [90c7ef2dc6895d81024acba2ac42f369]
tf/tfMessage [94810edda583a504dfda3829e70d7eec]
turtlebot_node/LaptopChargeStatus [201bffbb268bdae8f8389acae4ae6db2]
turtlebot_node/TurtlebotSensorState [d8f8ec7fa031fc9cc88e8319cd08a785]
topics: /camera/depth/camera_info 4 msgs : sensor_msgs/CameraInfo
/camera/depth/image/compressed/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/depth/image/compressed/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/depth/image/theora/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/depth/image/theora/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/depth/image_raw/compressed/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/compressed/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/depth/image_raw/theora/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/depth/image_raw/theora/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/camera_info 5 msgs : sensor_msgs/CameraInfo
/camera/rgb/image_color/compressed/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/compressed/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/image_color/theora/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_color/theora/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/image_mono/compressed/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/compressed/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/image_mono/theora/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_mono/theora/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/image_raw/compressed/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/compressed/parameter_updates 5 msgs : dynamic_reconfigure/Config
/camera/rgb/image_raw/theora/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/camera/rgb/image_raw/theora/parameter_updates 5 msgs : dynamic_reconfigure/Config
/cmd_vel 1542 msgs : geometry_msgs/Twist
/diagnostics 1893 msgs : diagnostic_msgs/DiagnosticArray (3 connections)
/diagnostics_agg 288 msgs : diagnostic_msgs/DiagnosticArray
/diagnostics_toplevel_state 289 msgs : diagnostic_msgs/DiagnosticStatus
/imu/data 8674 msgs : sensor_msgs/Imu
/imu/raw 8674 msgs : sensor_msgs/Imu
/joint_states 283 msgs : sensor_msgs/JointState
/joy 11138 msgs : sensor_msgs/Joy
/kinect_laser/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription
/kinect_laser/parameter_updates 5 msgs : dynamic_reconfigure/Config
/kinect_laser_narrow/parameter_descriptions 5 msgs : dynamic_reconfigure/ConfigDescription ...
Also I am using Electric and keeping the speed at 0.3/straight 1/turn
Could you post a link to a bagfile that reproduces this error? If you record all of the data and build the map offline, do you have this same problem?
Make sure that you also include the /odom and /odom_combined topics in your bag. To me it looks like rotation is not handled correctly, Maybe a problem with your gyro.
What are your current calibration values?
Updated my original post. Eric I do not know how to build the map offline using the data. I assume the command is similar to gmapping_demo?
Ryan - Current calibration values are <param name="turtlebot_node/gyro_scale_correction" value="1.141715" /> <param name="turtlebot_node/odom_angular_scale_correction" value="0.935877" />
I think this is either too much system load or wrong rotation information in odo and would guess that it is the second. Perform Test 1 here to verify: http://www.ros.org/wiki/navigation/Troubleshooting
dornhege - Yea it is not matching up, not to mention there is an extreme case of lag.