Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Is your SICK configured for 0.5 degree mode? Gmapping cannot currently handle a laser that outputs a variable number of pings. See Ticket 4865 for details.

You can fix the problem by setting your SICK to 1 degree mode. It will then only output 181 readings per scan and not alternate between 181 and 180 pings per scan.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.