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gmapping parameters

asked 2014-08-13 07:53:50 -0500

alex920a gravatar image

Hello everybody! I would like to create a map with gmapping with 10x10 cells dimension and that every cells are bigger than my robot. Is it possibile? which parameters of gmapping do I have to modify?

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answered 2014-08-13 07:56:38 -0500

dornhege gravatar image

Theoretically those:

~xmin (float, default: -100.0)
Initial map size
~ymin (float, default: -100.0)
Initial map size
~xmax (float, default: 100.0)
Initial map size
~ymax (float, default: 100.0)
Initial map size
~delta (float, default: 0.05)
Processing parameters (resolution of the map)

However, 10x10 is a VERY small map with a VERY rough solution. This sounds really odd. Especially with a resolution of let's say 0.5m (guessed robot size) you will get localization accuarcy at best in this magnitude which is not preferable.

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ok thanks! I will try:)

alex920a gravatar imagealex920a ( 2014-08-13 08:07:21 -0500 )edit

with those parametrs I have a very BIG map! Are you sure abot xmin,ymin,xmax,ymax?

alex920a gravatar imagealex920a ( 2014-08-13 08:17:45 -0500 )edit

You need to set them differently of course. These are just the defaults.

dornhege gravatar imagedornhege ( 2014-08-13 08:28:47 -0500 )edit

ok so I I want 10x10 cell I have to modify this way?:

xmax=10; ymax=10; xmin=-10 ymin=10;

alex920a gravatar imagealex920a ( 2014-08-13 08:54:26 -0500 )edit

That depends how large the cells are. The min/max values are in meters.

dornhege gravatar imagedornhege ( 2014-08-13 09:10:16 -0500 )edit

my robot is 1m big. I want to have my robot smaller than the cells

alex920a gravatar imagealex920a ( 2014-08-13 09:23:13 -0500 )edit

The cell size is called delta here.

dornhege gravatar imagedornhege ( 2014-08-13 09:24:54 -0500 )edit

is it delta in meters?

alex920a gravatar imagealex920a ( 2014-08-14 08:01:09 -0500 )edit

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Asked: 2014-08-13 07:53:50 -0500

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Last updated: Aug 13 '14