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Help with gmapping results using (slower) rplidar on turtlebot2

asked 2014-09-03 06:10:23 -0500

mrsoft99 gravatar image

I mounted my new Robopeak rplidar on the center of the turtlebot's top plate, and modified the various launch/urdf to use this scanner for gmapping. However I have not modified any of the gmapping parameters, I'm using the same files as the turtlebot gmapping tutorials.

I can teleop around and get a map, but the walls are rather thick and fuzzy. I suspect this is a result of the rplidar publishing at only 5 hz, not 50 hz as the original kinect. Or possibly because the rplidar is 360 degrees and kinect was only 57 degrees?

Does anyone know why my map doesn't show a sharp defined wall? Is the slower publishing rate responsible? What params for gmapping should I modify to optimize for the slower rate?

I tried to add a small jpg of the map image, but not enough points.

This is on Hydro/Ubuntu 12.04, using a turtlebot2 (kobuki).

thanks buddy

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At what speed you are driving robot ?

bvbdort gravatar image bvbdort  ( 2014-09-03 09:18:37 -0500 )edit

Excuse me, dear mrsoft99, I'm sorry to interrupt you. But I am facing a problem about gmapping with rplidar on turtlebot2, I am just starting to ROS, and I am struggling with this problem for a week. Could you teach me how to modify the launch/urdf?

tanghz gravatar image tanghz  ( 2014-12-18 21:30:06 -0500 )edit

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answered 2015-04-16 06:15:50 -0500

Maybe you already solve the problem. If not you can find here how to make RPLidar works with GMapping.

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Asked: 2014-09-03 06:10:23 -0500

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Last updated: Apr 16 '15