Laserscan data does not match the static map

asked 2017-05-08 08:32:14 -0500

peterwe gravatar image

updated 2017-05-08 08:34:00 -0500

I'm working on an Odroid XU4, have the navigation running and using the RPLIDAR A1 with its rplidar_ros package. I use a static map with the size of 100 x 125 pixel and a resolution of 0.05 meter/pixel. When I localize my robot in the map the laserscan data does not match the static map, so the points are beyond the walls in the map. Additionally the walls as displayed by the lidar are a little bit curved even though they should be straight. What did I miss?

These are my config files:

costmap_common_params.yaml

obstacle_range: 2.5
raytrace_range: 3.0
footprint: [[-0.170, -0.220], [-0.170, 0.220], [0.170, 0.220], [0.170, -0.220]]
inflation_radius: 0.30

global_costmap_params.yaml

global_costmap:
  global_frame: /map
  robot_base_link: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: true
  rolling_window: false
  map_type: costmap

plugins:
      - {name: slam_map, type: "costmap_2d::StaticLayer"}

  slam_map:
      subscribe_to_updates: true
      trinary_costmap: false

local_costmap_params.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 1.0
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 4.0
  height: 4.0
  resolution: 0.05
  map_type: costmap

plugins:
      - {name: laser_scanner, type: "costmap_2d::ObstacleLayer"}
      - {name: inflation, type: "costmap_2d::InflationLayer"}

  laser_scanner:
      observation_sources: rplidar
      rplidar: {sensor_frame: laser, data_type: LaserScan, topic: scan, expected_update_rate: 1.5, observation_persistence: 0.0, marking: true, clearing: true, inf_is_valid: true}

Map.yaml

image: Map.pgm
resolution: 0.050000
origin: [0.000000, 0.000000, 0.000000]
occupied_thresh: 0.65
free_thresh: 0.196
negate: 0
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Comments

I think I am facing similar problems. Were you able to figure this out?

nemesis gravatar image nemesis  ( 2017-11-07 16:23:56 -0500 )edit

No not really. I had some problems with my odometry. Optimizing that helped but the curved lines were still there.

peterwe gravatar image peterwe  ( 2018-01-08 03:28:23 -0500 )edit