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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 -0600

fromcaolei gravatar image

Hello all,

The constructed map is prone to distortion, just like this:


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"/-->

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 "" Thanks in advance.

rosRabbit gravatar image rosRabbit  ( 2015-08-20 22:15:04 -0600 )edit


fromcaolei gravatar image fromcaolei  ( 2015-08-21 02:51:18 -0600 )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 -0600 )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 -0600 )edit

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answered 2015-10-06 10:25:08 -0600

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 -0600 )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 -0600 )edit

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Asked: 2015-08-20 19:55:40 -0600

Seen: 1,344 times

Last updated: Oct 06 '15