XTIon with hector slam [closed]

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Hi all,

I've been experimenting with hector_slam and to a lesser extent gmapping and laser scan matcher (The reason for the lesser extent is that the scan matcher isn't playing ball at the moment - a question for another post)

I can see that the algorithm is building up a map on occasion but I wonder (From reading other posts) if I am flogging a dead horse. i.e. the field of vision, update frequency of the XTIon. I quite often get "SearchDir angle change too large" then the map is shot. It doesn't seem to be able to recover it's localisation very well.

Has anyone had any luck with this sensor and alg? Or should I put more effort into getting gmapping to work?

Thanks

Mark

PS - I realise this is limitations of the h/w not the alg