Map created using slam_gmapping looks weird ( Irobot Create + Hokuyo Laser)

asked 2015-03-14 19:28:06 -0600

josepainumkal gravatar image

updated 2015-03-14 20:04:02 -0600

I am trying to build a map using slam_gmapping. The maps are getting generated. But the generated maps were nowhere near to the original environment. They looks strange and weird. The edges of the map have a saw-tooth structure. (I have the bag file and map, but not able to attach it here) Please find below the tf tree : map -->odom -->base_link -->base_platform --> laser

Following are the launch files used :

launch_robot.launch
<launch> <node pkg="irobot_create_2_1" type="driver.py" name="base_link" output="screen"/> <node pkg="hokuyo_node" type="hokuyo_node" name="scan"> </node> <node pkg="tf" type="static_transform_publisher" name="ground_static_tf_publisher" args="0 0 0.075 0 0 0 1 base_link base_platform 50"/> <node pkg="tf" type="static_transform_publisher" name="base_platform_to_base_laser" args="0.14 0 0.06 0 0 0 1 base_platform laser 50"/> </launch>

build_map.launch

<launch> <node pkg="gmapping" type="slam_gmapping" name="map_builder"> (tried with/without this attribute, tried values 0,50,100,etc.) </node> </launch>

I am not seeing any exception while running slam_gmapping node. Is this an issue with slam mapping? Could you please help me in figuring out where I am going wrong ?

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