adding laser sensor to a robot for using gmapping
Hello, I work with Naoqi Pepper and want to create a map(gmapping) with a lidar lite v3 laser sensor. I have written a driver and tf broadcaster for the lidar sensor to transform the laserscan to base_link of pepper. When i started gmapping, with my own laserscan topic and i move pepper around the room, then comes a error: Scan matching failed, using odometry; is the tf transformation wrong? I thought the transformation, which needs gmapping, is done by pepper's tf tree.
Asked by Henne on 2017-11-30 04:11:57 UTC
Comments
i have the same sensor and i get the same error
Asked by marawy_alsakaf on 2017-11-30 07:33:21 UTC
This is a one-dimensional sensor, right? So you only get one single distance value. Is this correct? Are you rotating the sensor?
If not, this will not work for SLAM. There is just not enough Information and thus, the scan matcher will not score high enough, leading to this error message.
Asked by mgruhler on 2017-11-30 08:15:35 UTC
i thought i can move and rotate the robot and then the sensor picks up data for the map
Asked by Henne on 2017-11-30 08:38:35 UTC
i am rotating my lidar (using 3d printed mount with stepper motor) and receives the same error message
Asked by marawy_alsakaf on 2017-11-30 09:06:17 UTC
@Henne theoretically yes. But with just one reading, there is just not enough data for the algorithm to work properly. @marawy_alsakaf Do you then publish the Laserscan message after one sweep or still as single measurements? If it is the latter, there is not difference to using it fixed...
Asked by mgruhler on 2017-12-01 02:00:22 UTC
@mig i publish laserscans continuously, i get maps but they are not as expected
Asked by marawy_alsakaf on 2017-12-01 03:38:42 UTC
@marawy_alsakaf then please post a new question with more Information. Maybe also a sample what one of those scan Messages look like..
Asked by mgruhler on 2017-12-01 03:43:34 UTC
@mig here is it [https://answers.ros.org/question/277064/spinning-lidar-with-gmapping/]
Asked by marawy_alsakaf on 2017-12-01 04:43:50 UTC