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From my experience with the turtlebot gmapping, the odometry needs to be calibrated (I'm sure you've already done that in the tutorial, but I have trouble here). I suggest manually editing the turtlebot.launch file to change the gyro parameter to about 2.38 [that's what works best for me]. Then, run the calibration file. If you can post a bag file,I can try to play with your data.

Hope this helps! -Hunter A.

From my experience with the turtlebot gmapping, the odometry needs to be calibrated (I'm sure you've already done that in the tutorial, but I have trouble here). I suggest manually editing the turtlebot.launch file to change the gyro parameter to about 2.38 [that's what works best for me]. Then, run the calibration file. If you can post a bag file,I can try to play with your data.

Hope this helps! -Hunter A.

From my experience with the turtlebot gmapping, the odometry needs to be calibrated (I'm sure you've already done that in the tutorial, but I have trouble here). I suggest manually editing the turtlebot.launch file to change the gyro parameter to about 2.38 [that's what works best for me]. Then, run the calibration file. If you can post a bag file,I can try to play with your data.

Hope this helps! -Hunter A.

With your bag, this is the map I made. It seems to me that your linear translation odometry is flawed (unless this is the environment).

I'm going to look at your bag file further. In the mean time, here is the turtlebot calibration information. I know it's not a turtlebot, but you might be able to use this file in the mean time.

From my experience with the turtlebot gmapping, the odometry needs to be calibrated (I'm sure you've already done that in the tutorial, but I have trouble here). I suggest manually editing the turtlebot.launch file to change the gyro parameter to about 2.38 [that's what works best for me]. Then, run the calibration file. If you can post a bag file,I can try to play with your data.

Hope this helps! -Hunter A.

With your bag, this is the map I made. It seems to me that your linear translation odometry is flawed (unless this is the environment).

I'm going to look at your bag file further. In the mean time, here is the turtlebot calibration information. I know it's not a turtlebot, but you might be able to use this file in the mean time.

Ok. Found the issue. If you are using a gyro sensor, then that's what is messing up your map. The EKF uses the gyro and the odometry to get pose. When one of them is bad, the whole thing is bad. Consider adjusting your gyro sensor, or just completely removing it from the robot_pose_ekf configuration. If you're not using a gyro, just let me know.

From my experience with the turtlebot gmapping, the odometry needs to be calibrated (I'm sure you've already done that in the tutorial, but I have trouble here). I suggest manually editing the turtlebot.launch file to change the gyro parameter to about 2.38 [that's what works best for me]. Then, run the calibration file. If you can post a bag file,I can try to play with your data.

Hope this helps! -Hunter A.

With your bag, this is the map I made. It seems to me that your linear translation odometry is flawed (unless this is the environment).

I'm going to look at your bag file further. In the mean time, here is the turtlebot calibration information. I know it's not a turtlebot, but you might be able to use this file in the mean time.

Ok. Found the issue. If you are using a gyro sensor, then that's what is messing up your map. The EKF uses the gyro and the odometry to get pose. When one of them is bad, the whole thing is bad. Consider adjusting your gyro sensor, or just completely removing it from the robot_pose_ekf configuration. If you're not using a gyro, just let me know.

$ sudo nano /etc/ros/electric/turtlebot.launch

$ sudo service turtlebot stop 
$ sudo service turtlebot start