curved map with gmapping

asked 2014-12-19 11:45:12 -0600

Matias gravatar image

Hi, I'm trying to map an indoor environment (U shaped hallway, about 250m long) with a Pioneer P3AT robot with a Sick Tim3xx laser (4m radius, 1 degree resol., 270 fov). I tried mapping this hallway but no matter which set of parameters I find the entire map is always curved to the right.

I feel this is due to the robot actually drifting to a side. For some reason, gmapping seems to try to correct by moving the map instead of correcting the robot pose. I tried increasing the odometry noise parameters, playing with minimumScore to no avail.

I actually get sometimes an oscilating estimate where gmapping move the pose of the robot to the rigth, then maps (the map is then curved), then it jumps to the other side, maps again (straightens the map) and so on, until it stops, usually leaving the map crooked.

I also tried hector_slam and icp_mapper but since they do not take odometry information into account, on straight corridors, they assume the robot is still.

But could I do? I want to create an indoor map to be able to obtain reference trajectories done by the robot afterwards, when trying other vision-based methods.

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can you share you gmapping output and params used .

bvbdort gravatar image bvbdort  ( 2014-12-19 15:26:16 -0600 )edit