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gmapping : Scan Matching Failed, using odometry‏

asked 2011-11-14 20:21:39 -0500

rcampos gravatar image

updated 2016-06-16 02:07:07 -0500

130s gravatar image


I'm using gmapping to create maps. But, it returns a lot of messages saying Scan Matching Failed, using odometry and the resulting map has several overlapped maps.

In rviz the laser values seem to be correct. When I run the rostopic command to see the behavior of base_scan (laser) and odom (odometry) topics, it is possible to verify that the values are correctly published on ROS.

. I'm using these parameters in my code for the values on LaserScan:

scan.angle_min = -1.57;
scan.angle_max = 1.57;
scan.angle_increment = 3.14 / num_readings;
scan.time_increment = (1 / laser_frequency) / (num_readings);
scan.range_min = 0.0;
scan.range_max = 80.0;

Someone can help me ? Together with this message I attach the resulting .yaml file and the .bag file.

NOTE: Below is presented part of the resulting command line with the error:

 -maxUrange 79.99 -maxUrange 79.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1321129265.860843005]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 15 1 1.57733
m_count 0
Registering First Scan
update frame 246
update ld=1.00164 ad=0
Laser Pose= 13.9984 0.993456 1.57733
m_count 1
Scan Matching Failed, using odometry. Likelihood=3.10908e-305
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733


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I don't see the bag file you're referring to. Can you post it somewhere?
Brian Gerkey gravatar image Brian Gerkey  ( 2011-11-15 10:29:50 -0500 )edit

4 Answers

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answered 2011-11-15 10:33:20 -0500

Brian Gerkey gravatar image

The first thing that I would do is verify that accumulating laser data in the odometric frame produces a sensible result. See this question for a simple technique using rviz.

If you can't build at least a crude "map" by just accumulating scans based on odometry over short distances, then something is wrong with your laser, or odometry, or both, and gmapping won't be able to help you.

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answered 2020-11-23 20:20:16 -0500

darshb34 gravatar image

increase your max laser range, if most of the features/walls are outside maxRange param in the gmapping, then I get this error. You can also try increasing value of "paticles" param and decreasing value of "minimumScore" param.

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answered 2016-06-16 05:20:31 -0500

asimay_y gravatar image

hi, from your rosbag file, maybe the tf transform has issues..

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answered 2012-02-29 08:33:52 -0500

osuairt gravatar image

I've a somewhat similar problem. I believe that it is an issue with the tf, but this is the standard setup I got from the repos. I've a Turtlebot Clone. I am really wondering what could be causing this behavior, it is not like it is a custom build or anything. Below is link to the bag file of a run. I would really appreciate someones feedback on this.

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Asked: 2011-11-14 20:21:39 -0500

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Last updated: Nov 23 '20