Gmapping - entropy has fixed value

asked 2014-09-02 08:22:34 -0600

anamcarvalho gravatar image

Hi everyone!

I run gmapping with Hokuyo laser scanner. I published the transforms this way, so I can't really estimate the position in the map, but it works for a static position, and if I move the laser it updates the map, assuming the laser is in the same position. The transforms:

  <node pkg="tf" type="static_transform_publisher" name="odom_to_base_link" args="0 0 0 0 0 0 odom base_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="US6" args="0 7 2 1.5708 0 0 base_link laser 100" />

When I run gmapping and do rostopic echo /slam_gmapping/entropy, this is what it ALWAYS outputs, even if the map changes and becomes more occupied: data: 3.4119738166.

If you know how to update the entropy with the movement of the laser, I would appreciate your help! Thank you!

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@anamcarvalho were you able to figure out why the entropy is staying constant? I am also wondering what the entropy actually refers to from an information theory standpoint

hunterlineage1 gravatar image hunterlineage1  ( 2023-04-24 12:42:08 -0600 )edit