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Assuming you drove the robot straight down the hallway, you have enough data to find the source of the error. If the width of the hallway was mapped wider than actual, you have an issue with laser scanner. If the length of the hallway is considerably off, then it's on ODOM issue. Two equations and two unknowns. Do the math.
But really, the error is only 25%. That seems pretty good to me. If you're both off in different directions, then it's only 12% error.
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Assuming you drove the robot straight down the hallway, you have enough data to find the source of the error. If the width of the hallway was mapped wider than actual, you have an issue with laser scanner. If the length of the hallway is considerably off, then it's on ODOM issue. Two equations and two unknowns. Do the math.
But really, the error is only 25%. That seems pretty good to me. If you're you and the robot are both off in different directions, then it's only 12% error.
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