Revision history [back]

Specifying precise constraints is hard, as there are a multitude of factors that influence performance and can lead to things going well or not so well. The error message generally indicates that the scan alignment optimization step produces a unusually large angle change, making it very likely that it ends up with a wrong pose estimate. This normally shouldn't happen, but depends on the environment, sensors and motion of the platform. As seen here, the system works largely without problems even in challenging environments for us. For this reason, not a lot of work was put into catching scan matching failures. There certainly is some room for improvement in that regard, though and you could look into improving things for your robot.

What kind of sensors do you use and when do you see issues?