Unable to create reliable map for corridor.world gazebo [closed]

asked 2015-04-01 11:48:30 -0500

marguedas gravatar image

updated 2015-04-01 11:49:23 -0500

Hi,

I'm trying to build a map in Gazebo with a simulated turtlebot following this tutorial.

I launched the following nodes:
- roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=$(rospack find turtlebot_gazebo)/worlds/corridor.world
- roslaunch turtlebot_teleop keyboard_teleop.launch
- roslaunch turtlebot_rviz_launchers view_navigation.launch
- roslaunch turtlebot_gazebo gmapping_demo.launch

The map I got is highly unstable and do not look like the simulated world. It seems that gmapping is adjusting the map frame according to the readings. I think that because the laser scans are very similar when the turtlebot is moving along a corridor so gmapping thinks that the turtlebot is not moving.

I would like to do some coverage experiments and thus I need a reliable occupancy grid based on the robot position and the laser scans.
Is there anyway to tune this package to build an accurate map for this human like environment ? Maybe to say to gmapping to give more importance to the odom values sent ?

Any help would be really appreciated, Thanks !

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Closed for the following reason duplicate question by marguedas
close date 2015-04-02 11:38:07.373322