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create a poor map with lidars

asked 2017-11-18 09:55:00 -0500

vic_zhu gravatar image

updated 2017-11-19 10:38:42 -0500

I encountered a problem using the Lidar to create the map. Map is not closed. I am using the Gmapping method.


Does anyone know why this is? Or give me some advice? Thank you!

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answered 2017-11-20 01:59:01 -0500

billy gravatar image

To me it looks like the laser scanner is working well, but the ODOM drift is too high, so the robot loses it's sense of direction over time. Can I assume your robot has wheel encoders? If it does, you should redo the calibration, especially for encoder counts on each wheel during rotating. If your odom is based on a calculation of counts and wheel measurements, I suggest instead you determine the counts/meter and counts/radian through measurement instead of calculating. See section 1.2 of this: Once you are confident in the calibration, remap and make sure any rotation during mapping is done very slowly.

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Asked: 2017-11-18 09:55:00 -0500

Seen: 116 times

Last updated: Nov 20 '17