Question

Hey everyone,

I've got some trouble with gmapping.

I'm Using a robot called "eddie" witch is quiet similar to the Turtlebot2e, a kinect is the only used Sensor in this case. I wrote some nodes to get the Navigation Stack running( such as an odometry_publisher...) For the SLAM i thought gmapping would be a good choice. I used the Parameters they use with the turtlebot, but i get really bad results.

At first i thought my odometry could be the poblem. But the Odometry is realy good, as you can see on this Map (made with sigma and lsigma = 0 -> gmapping just used odometry. the robot did 21m of distance to create that map, asswell as all in all a rotation of 47rad(7,5 revolutions)) image description

As soon as I change the sigma and lsigma back to a usefull value the resulst get as bad as this: (made with the turtlebot paramters) you can see the large jump in the top right corner. most of the time gmapping says something like: Scan Matching Failed, using odometry. Likelihood=-3889.53 lp:3.94415 2.44182 -0.742944

if it can match the scans, it often jumps as in this case: image description

I use a notebook with an i7 620M (1st generation). Things i've tried:

-Recording bag file and play it with 10% speed ( to be sure, the notebook has enough power for gmapping)

incresing particles and anglarUpdate
many many parameters changed, always worse than befor!

Has anyone an idea why that happens? Thank you all so much!

Turtlebo Parameter:

  <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg base_frame)"/>
    <param name="odom_frame" value="$(arg odom_frame)"/>
    <param name="map_update_interval" value="5.0"/>
    <param name="maxUrange" value="6.0"/>
    <param name="maxRange" value="8.0"/>
    <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="lskip" value="0"/>
    <param name="minimumScore" value="200"/>
    <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="linearUpdate" value="0.5"/>
    <param name="angularUpdate" value="0.436"/>
    <param name="temporalUpdate" value="-1.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="80"/>
  <!--
    <param name="xmin" value="-50.0"/>
    <param name="ymin" value="-50.0"/>
    <param name="xmax" value="50.0"/>
    <param name="ymax" value="50.0"/>
  make the starting size small for the benefit of the Android client's memory...
  -->
    <param name="xmin" value="-1.0"/>
    <param name="ymin" value="-1.0"/>
    <param name="xmax" value="1.0"/>
    <param name="ymax" value="1.0"/>

    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
    <remap from="scan" to="$(arg scan_topic)"/>
</node>

EDIT: I did some testing wih the log-level of gmapping set to debug: thats whats it says:

I tried to set the queue size to a higher level, but that did not helped. i just filled the longer queue aswell. does it mean, my PC is to slow?

DEBUG] [1538559585.150380736]: scan processed
[DEBUG] [1538559585.150446754]: new best pose: -0.128 0.076 -0.620
[DEBUG] [1538559585.150473223]: odom pose: -0.120 0.053 -0.686
[DEBUG] [1538559585.150500220]: correction: -0.008 0.023 0.066
[DEBUG] [1538559585.150528985]: Update map
[DEBUG] [1538559585.150782022]: Trajectory tree:
[DEBUG] [1538559585.150814609]:   -0.128 0.076 -0.620
[DEBUG] [1538559585.161357391]:   -0.045 -0.222 0.803
[DEBUG] [1538559585.168895340]:   -0.143 0.204 -1.324
[DEBUG] [1538559585.173869257]:   0.065 0.103 -2.056
[DEBUG] [1538559585.177420176]:   -0.152 0.042 -0.406
[DEBUG] [1538559585.187483286]:   -0.150 -0.020 -0.007
[DEBUG] [1538559585.197457847]:   -0.150 -0.020 -0.007
[DEBUG] [1538559585.197514536]: Reading is NULL
[DEBUG] [1538559585.223851088]: XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] in an upwards search]
[DEBUG] [1538559585.225146064]: Updated the map
[DEBUG] [1538559585.225245454]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559579.160, count now 0
[DEBUG] [1538559585.225295741]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559579.160, count now 0
[DEBUG] [1538559585.225386046]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.065, count now 0
[DEBUG] [1538559585.225419326]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.065, count now 0
[DEBUG] [1538559585.225465911]: Time jumped forward by [5.947389] for timer of period [0.010000], resetting timer (current=1538559585.225445, next_expected=1538559579.278055)
[DEBUG] [1538559585.225533946]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.100, count now 0
[DEBUG] [1538559585.225575190]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.100, count now 0
[DEBUG] [1538559585.225630832]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.134, count now 0
[DEBUG] [1538559585.225669168]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.134, count now 0
[DEBUG] [1538559585.225744209]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.166, count now 0
[DEBUG] [1538559585.225778349]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.166, count now 0
[DEBUG] [1538559585.225834130]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.200, count now 1
[DEBUG] [1538559585.237587305]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.234, count now 2
[DEBUG] [1538559585.279426741]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.266, count now 3
[DEBUG] [1538559585.308047359]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.200, count now 3
[DEBUG] [1538559585.308145273]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.234, count now 2
[DEBUG] [1538559585.308225755]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.266, count now 1
[DEBUG] [1538559585.319407034]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.300, count now 1
[DEBUG] [1538559585.375117040]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.334, count now 2
[DEBUG] [1538559585.411740875]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.366, count now 3
[DEBUG] [1538559585.462958310]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.300, count now 3
[DEBUG] [1538559585.463079060]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559585.334, count now 2
[DEBUG] [1538559585.463224687]: processing scan
update frame 128
update ld=0.22196 ad=1.63029
Laser Pose= 0.0969689 0.0981701 -2.31598
m_count 6
[DEBUG] [1538559585.607569543]: Incoming queue was full for topic "/scan". Discarded oldest message (current queue size [4])
Average Scan Matching Score=607.669
neff= 26.0462
Registering Scans:Done
[DEBUG] [1538559595.690054811]: scan processed
[DEBUG] [1538559595.690114562]: new best pose: 0.118 0.071 -2.147
[DEBUG] [1538559595.690143658]: odom pose: 0.097 0.098 -2.316
[DEBUG] [1538559595.690165491]: correction: 0.021 -0.028 0.169
[DEBUG] [1538559595.690199943]: Update map
[DEBUG] [1538559595.690394089]: Trajectory tree:
[DEBUG] [1538559595.690425120]:   0.118 0.071 -2.147
[DEBUG] [1538559595.693663045]:   -0.128 0.076 -0.620
[DEBUG] [1538559595.705506182]:   -0.045 -0.222 0.803
[DEBUG] [1538559595.715171118]:   -0.143 0.204 -1.324
[DEBUG] [1538559595.722136005]:   0.065 0.103 -2.056
[DEBUG] [1538559595.725753886]:   -0.152 0.042 -0.406
[DEBUG] [1538559595.734830849]:   -0.150 -0.020 -0.007
[DEBUG] [1538559595.744065359]:   -0.150 -0.020 -0.007
[DEBUG] [1538559595.744222020]: Reading is NULL
[DEBUG] [1538559595.769366833]: XML-RPC call [searchParam] returned an error (-1): [Cannot find parameter [tf_prefix] in an upwards search]
[DEBUG] [1538559595.770242004]: Updated the map
[DEBUG] [1538559595.770337280]: MessageFilter [target=odom ]: Discarding Message, in frame camera_depth_frame, Out of the back of Cache Time (stamp: 1538559585.366 + cache_length: 10.000 < latest_transform_time 1538559595.694. Message Count now: 1
[DEBUG] [1538559595.770394652]: MessageFilter [target=odom ]: Discarding Message, in frame camera_depth_frame, Out of the back of Cache Time (stamp: 1538559585.400 + cache_length: 10.000 < latest_transform_time 1538559595.694. Message Count now: 0
[DEBUG] [1538559595.770437227]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559585.400, count now 0
[DEBUG] [1538559595.770498694]: Time jumped forward by [10.295030] for timer of period [0.010000], resetting timer (current=1538559595.770474, next_expected=1538559585.475445)
[DEBUG] [1538559595.770588070]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.612, count now 0
[DEBUG] [1538559595.770630182]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.612, count now 0
[DEBUG] [1538559595.770696032]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.644, count now 0
[DEBUG] [1538559595.770739264]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.644, count now 0
[DEBUG] [1538559595.770803960]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.678, count now 0
[DEBUG] [1538559595.770846479]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.678, count now 0
[DEBUG] [1538559595.770920081]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.712, count now 1
[DEBUG] [1538559595.771004550]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.744, count now 2
[DEBUG] [1538559595.787615126]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.778, count now 3
[DEBUG] [1538559595.800774096]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.712, count now 3
[DEBUG] [1538559595.800885307]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.744, count now 2
[DEBUG] [1538559595.800953700]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.778, count now 1
[DEBUG] [1538559595.822037418]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.812, count now 1
[DEBUG] [1538559595.849479430]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.844, count now 2
[DEBUG] [1538559595.881678127]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.878, count now 3
[DEBUG] [1538559595.900898807]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.812, count now 3
[DEBUG] [1538559595.901085804]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.844, count now 2
[DEBUG] [1538559595.901208579]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.878, count now 1
[DEBUG] [1538559595.915414079]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.912, count now 1
[DEBUG] [1538559595.955287185]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.944, count now 2
[DEBUG] [1538559595.984224299]: MessageFilter [target=odom ]: Added message in frame camera_depth_frame at time 1538559595.978, count now 3
[DEBUG] [1538559596.001662834]: MessageFilter [target=odom ]: Message ready in frame camera_depth_frame at time 1538559595.912, count now 3
[DEBUG] [1538559596.001831103]: processing scan
update frame 129
update ld=0.290505 ad=2.59566
Laser Pose= -0.123896 -0.0905413 0.279682
m_count 7
[DEBUG] [1538559596.181815223]: Incoming queue was full for topic "/scan". Discarded oldest message (current queue size [4])
Scan Matching Failed, using odometry. Likelihood=-2710.29
lp:0.0969689 0.0981701 -2.31598
op:-0.123896 -0.0905413 0.279682
Scan Matching Failed, using odometry. Likelihood=-2703.43
lp:0.0969689 0.0981701 -2.31598
op:-0.123896 -0.0905413 0.279682
Scan Matching Failed, using odometry. Likelihood=-2770.2
lp:0.0969689 0.0981701 -2.31598
op:-0.123896 -0.0905413 0.279682
Scan Matching Failed, using odometry. Likelihood=-4266.67
lp:0.0969689 0.0981701 -2.31598
op:-0.123896 -0.0905413 0.279682
Average Scan Matching Score=201.877
neff= 18.4994
Registering Scans:Done
[DEBUG] [1538559599.578663418]: scan processed

Asked by lorenznew on 2018-10-02 09:01:51 UTC

Bad results with Gmapping

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