Gmapping map is not alinged with the laser data and robot discription

asked 2018-03-18 20:59:51 -0500

Shashika gravatar image


I'm a newbie for ROS. Currently i'm trying to use Hokuyo URG sensor to make a map by a mobile robot. I checked the odometry of the robot and for me, it seems correct. Plus i was using Encorder + IMU through EKF. Somehow at the end i got a map which is not aligned with laser data like in following picture. Can you guys suggest me the reason why this is happening? thanks alot!

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