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Ok, there was definitely a bug in gmapping node, ticket with a patch is here.

Ok, there was definitely a bug in gmapping node, ticket with a patch is here.

Update: I have uploaded our robot's bag file that can be used to test proposed patches to gmapping, use this command to run gmapping: rosrun gmapping slam_gmapping scan:=base_scan/scan _odom_frame:=odom_combined. The laser in use is a Hokuyo URG-04LX mounted upside down on the front of the robot.

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