gmapping and laser scanmatcher -Scan Matching Failed, using odometry

asked 2016-06-24 14:26:41 -0600

MarkyMark2012 gravatar image

Hi all,

I'm having a great deal of trouble getting anything approaching a reasonable result out of gmapping. I'm using the laser-scan_matcher, with IMU, to fake the Odom topic but still gmapping reports "Scan Matching Failed, using odometry" and makes a mess of any map up to that point.

This is my graph: image description

and gmapping launch file. I've tried various particles, angularUpdate and linearUpdate values. Nothing so far.

    <param name="odom_frame" value="odom"/>
    <param name="map_update_interval" value="1"/>
    <param name="maxUrange" value="6.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.1"/>
    <param name="astep" value="0.1"/>
    <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="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.05"/>
    <param name="angularUpdate" value="0.05"/>
    <param name="temporalUpdate" value="-1.0"/>
    <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="0.025"/>
    <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="100"/>

Any help would be most appreciated.

Thanks

Mark

edit retag flag offensive close merge delete

Comments

Quick googling for the error message returns some threads. Didn't any of those help?

130s gravatar image130s ( 2016-06-24 15:09:32 -0600 )edit

Unfortunately not; no

MarkyMark2012 gravatar imageMarkyMark2012 ( 2016-06-26 06:13:44 -0600 )edit