/odom tf out of map bounds

asked 2017-09-11 13:30:32 -0500

gerson_n
43 ●12 ●17 ●19

updated 2017-09-12 13:27:05 -0500

Hi everyone

Recently I managed to get a map using navigation stack. I mapped the room where I'm working and got this map.

image description

As you can see, isn't accurate at all. But is a good result considerating that is my first map.

After driving around, odom tf should or shouldn't be at the same position that the robot is?

I understand that odometry by itselft isn't accurate, and for that reason gmapping uses both odometry and laser scanner inputs for doing mapping trough a particle filter. So... is it normal that odom tf position won't be the same for the robot?

Also I've tried set a 2D nav goal, just in front of the robot and it crashes all the time. Maybe because of my .yaml files configuration. Any advice?

-------------------------------> My github page <------------------------------

I'm kind of confused with my .yaml parameters, because it keep crashing. Inside one of those files there must be a mistake in the configuration.

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Comments

Bad yaml configuration files should not end in a crash, any error given?

Humpelstilzchen ( 2017-09-12 02:42:33 -0500 )edit

This error The origin for the sensor at (0.13, -0.00) is out of map bounds. So, the costmap cannot raytrace for it. and after a while it increases.until -15, 3 app once I mapped.