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Rate of position updates from gmapping

asked 2015-12-09 04:53:03 -0600

mohsen1989m gravatar image

Hey folks,

I am using a 2D SLAM with Navigation stack and Gmapping. My odometry is not so accurate and once I start to move I slightly drift from the real position. The localization algorithm on gmapping compensates my error but the problem is that is a bit slow for my application. I receive a correction almost every 5 secs and I want to make it faster like amcl which does the same thing almost in real time (The problem with amcl is that it only works if you have a map and I want to do slam). I went through the parameters available on gmapping and couldn't find any thing related to the rate of updates that I am receiving from localization.

Any ideas? Thank you very much in advance

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answered 2016-05-19 05:44:11 -0600

gp gravatar image

Check out the parameter "map_update_interval" Gmapping wiki. This parameter corresponds to interval between map updates. Its default value is 5 sec.

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Asked: 2015-12-09 04:53:03 -0600

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Last updated: Dec 09 '15