Is my LaserScan ranges being off affecting my gmapping?

asked 2018-07-17 09:57:12 -0500

bhejase gravatar image

Hi, I wrote a plugin that converts sensor data into a laserscan. However, since it is not calibrated correctly the actual ranges stored in the message are off. I am trying to run SLAM gmapping, but my robot keeps jumping back and forth as it moves (I am assuming it is trying to localize itself). Is this being caused as a result of my laser ranges being off?

I checked that /odom, /base_link and LaserScan frame_id tf are being published. I also keep getting Scan Matching Failed, using odometry.

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What do you mean by "they are off"? Are you talking about a few cm/degrees or meters/20degrees? Also, what does "jumping back and forth" mean? From starting point to wherever it has moved using odometry? If this is the case, it could be something else is also publishing the transform map->odom.

mgruhler gravatar image mgruhler  ( 2018-07-18 01:01:39 -0500 )edit

My first though would be to calibrate your sensor so that the readings are accurate! There is no point trying to make downstream processes work if you know your sensor data is not accurate.

PeteBlackerThe3rd gravatar image PeteBlackerThe3rd  ( 2018-07-18 06:52:59 -0500 )edit