cannot fix mapping in real robot

asked 2016-05-17 07:57:19 -0500

MariaKrgr gravatar image

updated 2016-05-17 08:24:40 -0500

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


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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?

MariaKrgr gravatar image MariaKrgr  ( 2016-05-17 09:13:51 -0500 )edit

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.

Sebastian Kasperski gravatar image Sebastian Kasperski  ( 2016-05-18 02:44:47 -0500 )edit

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

MariaKrgr gravatar image MariaKrgr  ( 2016-05-19 09:07:10 -0500 )edit