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From your image, it seems you are using hector_mapping with default parameter values.
This is a common result for the setup you have mentioned. Hector_mapping generally fails in scanmatching when the robot rotates too fast.
From your spec list, it seems you are not using any other sensor to provide odom information. Get an IMU and I think the result will be much better. You can also fuse the information from wheel encoders to get a better map.
If you have reliable encoders and IMU, and have wrote programs which creates a good model, then try gmapping as well, although it is a bit heavy on computation compared to hector.
A quick fix is to rotate the robot slower than your current speed of rotation
| | 2 | No.2 Revision |
You will probably find information/solution regarding your problem faster if you just search about it on google followed by ros. I'm sure this question has been asked before, do read them.
From your image, it seems you are using hector_mapping with default parameter values.
This is a common result for the setup you have mentioned. Hector_mapping generally fails in scanmatching when the robot rotates too fast.
From your spec list, it seems you are not using any other sensor to provide odom information. Get an IMU and I think the result will be much better. You can also fuse the information from wheel encoders to get a better map.
If you have reliable encoders and IMU, and have wrote programs which creates a good model, then try gmapping as well, although it is a bit heavy on computation compared to hector.
A quick fix is to rotate the robot slower than your current speed of rotation
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