hector_slam with Sick TIM561
Hi,
we are working with a robot in a garage or production hall environment to test some car sensors. For mapping we tried an RPlidar (360°) with hector_mapping which is working very well out of the box. Unfortunally the RPlidar has problems to detect parts with black paint or car tires so we tried an Sick TiM561-2050101 which has an angle of 270° and better resolution. Despite the higher frame rate (10Hz vs. 15Hz) and better resolution (0,9°/~400pts vs. 0,33°/~800pts) hector_mapping can't match the map on rotations. It's only working on very slow speeds. Mapping with linear movement seems to work on moderate speed. We tried:
- reduce the frame rate
- reduce the number of points
- moved to a faster computer (from UDOO x86 Ultra on the robot to Intel NUC with i7 cpu)
- reduce the FOV
The laser data and slam_cloud is published with ~15Hz.
Why does it work out of the box with RPLidar but not with the Sick LIDAR?
