cannot fix mapping in real robot

Hi again, Here is my map, costmap and the code for odometry being published. I think the laser map is not very good but the costmap is totally wrong in relation to the static map. Do you think there is something wrong with the odometry?

print screen

Here is also my rqt_graph

rqt_graph

Asked by MariaKrgr on 2016-05-17 07:57:19 UTC

Comments

I forgot to tell that I create the map with Kinect using freenect and depthimage_toLaserScan packages. Kinect images are being update with about 30Hz. Is it slow?

Asked by MariaKrgr on 2016-05-17 09:13:51 UTC

Do you have odometry on your robot? Which node is publishing it to tf-topic? 30 Hz should be really enough. From what I can see in the images, I would also assume some error with the odometry or the transformations in general.

Asked by Sebastian Kasperski on 2016-05-18 02:44:47 UTC

I figured out that I had wrong wheel radius (!). That produced wrong odometry etc. Now works fine.

Asked by MariaKrgr on 2016-05-19 09:07:10 UTC