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 | 1 | initial version |
The base frame used by gmapping is called base_link, not link (There is a param to configure that).
Maybe you set the fixed_frame in rviz to odom and this is what you see driving? Although I don't know how you would see the map with the first scan.
| | 2 | No.2 Revision |
The base frame used by gmapping is called base_link, not link (There is a param to configure that).
Maybe you set the fixed_frame in rviz to odom and this is what you see driving? Although I don't know how you would see the map with the first scan.
Besides that: If gmapping gets valid data it should do something. Can you check the data rate of laser and tf for odom? Can you do the checks from section 2.2 in the Navigation Tuning Guide? They are designed to show that you are getting correct input, but will also discover that data is missing.
| | 3 | No.3 Revision |
The base frame used by gmapping is called base_link, not link (There is a param to configure that).
Maybe you set the fixed_frame in rviz to odom and this is what you see driving? Although I don't know how you would see the map with the first scan.
Besides that: If gmapping gets valid data it should do something. Can you check the data rate of laser and tf for odom? Can you do the checks from section 2.2 in the Navigation Tuning Guide? They are designed to show that you are getting correct input, but will also discover that data is missing.
What does gmapping say it does. I get something like:
-maxUrange 29.99 -maxUrange 29.99 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30 [ INFO] [1312396236.181686189, 34.827621059]: Initialization complete update frame 0 update ld=0 ad=0 Laser Pose= 0 0 0 m_count 0 Registering First Scan update frame 43 update ld=0.8 ad=0.523599 Laser Pose= 0.8 1.65828e-14 0.523599 m_count 1 Average Scan Matching Score=855.45 neff= 29.7596 Registering Scans:Done update frame 63 update ld=1.05 ad=0.418879 Laser Pose= 1.41717 0.849468 0.942478 m_count 2 Average Scan Matching Score=847.289 neff= 27.6526 Registering Scans:Done update frame 70 update ld=1.04877 ad=0.20944 Laser Pose= 1.99375 1.72269 1.15192 m_count 3
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