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Anybody know what might be causing my laser readings to behave like this? [video] [closed]

asked 2017-07-14 14:33:58 -0500

Cristian11235 gravatar image

updated 2017-07-15 04:08:04 -0500

gvdhoorn gravatar image

https://youtu.be/vQJC-mlnRKY

In the video I move the robot, and the laser readings seem to move along with the robot, when in fact they should be more stationary. I then increase the delay on the /scan topic, and I get a really thick wall, in the direction in which the robot is moving.

Any idea what might cause it? It seems that algorithms like gmapping are producing a pretty decent map.

I did a tf view_frame, and the tf's are all publishing at about 5hz, the robot is defined in a urdf.

Thank you in advance!

Here is the tf_view file, the laser scan comes from veldyne: C:\fakepath\frames.png

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Closed for the following reason the question is answered, right answer was accepted by allenh1
close date 2017-07-18 17:11:11.394567

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Could you post the view_frames.py output?

allenh1 gravatar imageallenh1 ( 2017-07-14 14:44:17 -0500 )edit

Ive updated the original post with the view frames output

Cristian11235 gravatar imageCristian11235 ( 2017-07-14 15:03:30 -0500 )edit

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answered 2017-07-14 14:54:02 -0500

ahendrix gravatar image

It looks like your odometry is scaled incorrectly; notice how the laser scans move, but only about half as far as the robot moves.

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The issue was indeed the odometry was scaled exactly how you said, by half of what the robot moves at.

I had changed the motor controlled/ encoders and did not update the code to properly reflect this.

Thank you

Cristian11235 gravatar imageCristian11235 ( 2017-07-14 15:40:07 -0500 )edit

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Asked: 2017-07-14 14:33:58 -0500

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Last updated: Jul 15 '17