gmapping and laser scanmatcher -Scan Matching Failed, using odometry

asked 2016-06-24 14:26:41 -0500

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.



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

130s gravatar image 130s  ( 2016-06-24 15:09:32 -0500 )edit

Unfortunately not; no

MarkyMark2012 gravatar image MarkyMark2012  ( 2016-06-26 06:13:44 -0500 )edit

Hey! I face up with the same error. Have you resolved the error?

anonymous userAnonymous ( 2022-02-18 03:39:58 -0500 )edit

I ended up changing to a Lidar and using Cartographer

MarkyMark2012 gravatar image MarkyMark2012  ( 2022-03-18 10:59:46 -0500 )edit