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I use gmapping and the rplidar to build the map, but there is a problem.

asked 2015-08-20 20:01:30 -0500

fromcaolei gravatar image

Hello all,

The constructed map is prone to distortion, just like this: https://plus.google.com/1101846192220...

and

https://plus.google.com/u/0/110184619...

There are a lot of strange points, and the part of my launch looks like this:

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
 <param name="map_update_interval" value="5.0"/>
 <param name="maxUrange" value="5.0"/>
 <param name="maxRange" value="5.0"/>
 <param name="sigma" value="0.05"/>
 <param name="kernelSize" value="1"/>
 <param name="lstep" value="0.05"/>
 <param name="astep" value="0.05"/>
 <param name="iterations" value="5"/>
 <param name="lsigma" value="0.075"/>
 <param name="ogain" value="3.0"/>
 <param name="lskip" value="0"/>
 <param name="srr" value="0.1"/>
 <param name="srt" value="0.2"/>
 <param name="str" value="0.1"/>
 <param name="stt" value="0.2"/>
 <param name="linearUpdate" value="1.0"/>
 <param name="angularUpdate" value="0.5"/>
 <param name="temporalUpdate" value="3.0"/>
 <param name="resampleThreshold" value="0.5"/>
 <param name="particles" value="30"/>

 <param name="xmin" value="-50.0"/>
 <param name="ymin" value="-50.0"/>
 <param name="xmax" value="50.0"/>
 <param name="ymax" value="50.0"/>

 <param name="delta" value="0.05"/>
 <param name="llsamplerange" value="0.01"/>
 <param name="llsamplestep" value="0.01"/>
 <param name="lasamplerange" value="0.005"/>
 <param name="lasamplestep" value="0.005"/>
 <!--param name="minimumScore" value="50"/-->
</node>

Thank you for your consideration.

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Hi, I see your generated map. Much better than mine. I also use rplidar+gmapping. It seems there is something wrong with my usage since the map does not generated. So could you share with me your launch file for studying? my email is "renjiangtao8@126.com" Thanks in advance.

rosRabbit gravatar image rosRabbit  ( 2015-08-20 22:15:04 -0500 )edit

如果不是边做建图边导航的话,建议使用hector_slam

fromcaolei gravatar image fromcaolei  ( 2015-08-21 02:51:18 -0500 )edit

How to build the map while doing navigation using slam_gmapping? Do you use AMCL? How to combine AMCL with slam_gmapping? Thanks!

rosRabbit gravatar image rosRabbit  ( 2015-09-06 23:57:16 -0500 )edit

Dear rosRabbit, SLAM stays for Simultaneous Localization And Mapping: it does localization and mapping in the same time so, using SLAM, you don't need AMCL.

afranceson gravatar image afranceson  ( 2015-10-06 10:26:56 -0500 )edit

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answered 2015-10-06 10:25:08 -0500

Some time ago I found the same problem with GMapping and RPLIdar (Hector SLAM works fine instead). I fixed it and you can find the solution at this page. Probably the repos still contains old version so I suggest you to download sources from RPLidar GitHub, compile and try it.

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RPLidar bag I use is 17c7bd5f7085c26868de72597d1d35a5e0414612 MD5,TF is set to be correct,it may be the range of the laser is too small,thank you for your answer.

fromcaolei gravatar image fromcaolei  ( 2015-10-07 22:29:10 -0500 )edit

If bag was recorded with the RPLidar node affected by bug you cannot fix it, you need a new bag file. This evening I will record one for you.

afranceson gravatar image afranceson  ( 2015-10-08 04:41:26 -0500 )edit

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Asked: 2015-08-20 19:55:40 -0500

Seen: 1,177 times

Last updated: Oct 06 '15