Gmapping outputs wrong map in tutorials

asked 2014-05-25 22:01:49 -0500

zxh362989
1 ●1 ●1 ●2

I followed the tutorials at the page of hector slam but the final map seems not right, you can find my map at www.dropbox.com/s/9072yf1f41nk18e/cap...

Are there any other parameters I need to set?

I also use the bag "Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag" in gmapping following its tutorials

Also got the wrong map.

What should I do to solve this problem? What's more, how to generate a map simultaneously without a bag file?I just have a notebook and a hokuyo laser scanner(ulg-04lx), can any one give me a tutorial?

answered 2014-05-26 00:55:41 -0500

Stefan Kohlbrecher

24361 ●173 ●299 ●444 https://www.energy-rob...

The example bagfile we provide won´t work with gmapping as I don´t provide odometry data while walking ;) , which gmapping requires. Please edit your post with details such as

computer type
operating system (e.g. Ubuntu 12.04 64 Bit or so)
information on how you installed hector_slam (from .debs or compiled yourself)

I suspect that for some reason things run too slow, so the mapping process can´t keep up with the incoming data. This can happen when accidentally building code without optimization using catkin (see further info here) and/or when running the system on a very slow CPU.

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My notebok is Thinkpad X201 with Ubuntu 13.04. I installed hector_slam just as the tutorials(sudo apt-get install ros-hydro-hector-slam) When I run the bag, I checked out the CPU status, it consumes about 9% of CPU. What can I do in the next step? And what should I do if I want to generate a map without a bag file, just with my notebook and laser scanner. Thank you for your reply!

zxh362989 ( 2014-05-26 01:59:54 -0500 )edit

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