Jumpy robot model in RViz with gmapping and Fuerte
I'm attempting to map a room with the gmapping demo for the Turtlebot and I'm operating the robot with the keyboard. I have calibrated the robot's gyro and odometer appropriately. However, the map produced in RViz is not very accurate and the robot model keeps jumping/teleporting when the real robot is moving. In fact, the model reproduces the real robot's movements, but also jumps here and there regularly. I suppose that might explain the inaccuracy of the map. Is there any way I could fix this?
Asked by Zayin on 2013-06-07 07:33:20 UTC
Comments
I think you have the same problem asked here: http://answers.ros.org/question/64308/large-pose-jumps-in-gmapping/?comment=64558#comment-64558. right?
Asked by jorge on 2013-06-09 14:48:04 UTC
It might be related, I'm not certain. Well first, I'm using Fuerte with a Kinect, which might make a difference. Also, I don't know if my robot is jumping like the one in your video because my fixed frame is /map, so it just looks different. I'll have to run further experiments.
Asked by Zayin on 2013-06-10 04:48:37 UTC
I've set the fixed frame as /Odom, but the model didn't jump around like in your video. It seems having the fixed frame at /Map causes the problem (and only the robot jumps, not the map). However, I have recalibrated the robot and the map is now much better.
Asked by Zayin on 2013-06-10 10:16:55 UTC
I have updated the question 64308 with some experimenting results. Not sure if it can help you, but...
Asked by jorge on 2013-06-10 21:35:32 UTC
Thanks! I'll have a look at it!
Asked by Zayin on 2013-06-11 04:39:20 UTC