Laser Filter and Hector Mapping Issue
Hi all,
I recently implemented the angular_bounds_filter from the laser_filters package to hector SLAM for map building. I decided to limit my RPLidar A2 laserscan from 360deg to 180deg. However, by doing so, when I launch Hector mapping, there seems to be a high tendency of drift and multiple warnings of SearchDir angle change too largewhile I see my frame on RVIZ jump around. All this happens while my robot is stationary. Is there a reason why this is happening? This particular filter is also not documented on the laser_filters wiki page too .
Hi! any update on this issue? i seem to have same issue and warning
SearchDir angle change too largeHi, it actually depends on what sensor you are using and the sensor range. I realized that for a 360deg sensor, this error rarely occurs unless the sensor is shifted very abruptly, However, as the sensor range decreases, this probability of the error occurring increases.
I am using 360deg as well, now I understand what you mean by sensor range, I was trying to run the hector_mapping on the table and this error occurs. When I finally mounted the RPLIDAR on my robot and run in quite spacious rooom, it maps quite good enough. Thanks for your update!