I cant run gmapping with sweep_lds on turtlebot3

asked 2017-11-20 01:47:39 -0600

wings0728 gravatar image

updated 2017-11-20 01:48:10 -0600

[turtlebot3_slam_gmapping-2] process has died [pid 2389, exit code -11, cmd /opt/ros/kinetic/lib/gmapping/slam_gmapping __name:=turtlebot3_slam_gmapping __log:=/home/jason/.ros/log/3b2e719a-cdc4-11e7-8aef-680715835432/turtlebot3_slam_gmapping-2.log].
log file: /home/jason/.ros/log/3b2e719a-cdc4-11e7-8aef-680715835432/turtlebot3_slam_gmapping-2*.log

gmapping :

      <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
        <param name="base_frame" value="base_footprint"/>
        <param name="odom_frame" value="odom"/>
        <param name="map_update_interval" value="2.0"/>
        <param name="maxUrange" value="40.0"/>
        <param name="minimumScore" value="100"/>
        <param name="linearUpdate" value="0.2"/>
        <param name="angularUpdate" value="0.2"/>

<param name="temporalUpdate" value="0.5"/>
<param name="delta" value="0.05"/>
<param name="lskip" value="0"/>
<param name="particles" value="120"/>
<param name="sigma" value="0.05"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.05"/>
<param name="astep" value="0.05"/>
<param name="iterations" value="5"/>
<param name="lsigma" value="0.075"/>
<param name="ogain" value="3.0"/>

<param name="srr" value="0.01"/>
<param name="srt" value="0.02"/>
<param name="str" value="0.01"/>
<param name="stt" value="0.02"/>
<param name="resampleThreshold" value="0.5"/>
<param name="xmin" value="-10.0"/>
<param name="ymin" value="-10.0"/>
<param name="xmax" value="10.0"/>
<param name="ymax" value="10.0"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.01"/>
<param name="lasamplerange" value="0.005"/>
<param name="lasamplestep" value="0.005"/>

</node>
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