Getting terrible mapping

melodic

asked 2019-01-11 02:41:17 -0600

stevemartin
361 ●70 ●82 ●93

Hi,

I have built a robot and fixed my odometry and it works quite good (1-2 cm off). Now, I have installed a Lidar and for some reason I get terrible positioning and sometimes the gmapping makes my robot to jump like here:

LINK

This is my Tf tree: image description

My gmapping launch:

<launch>
    <param name="use_sim_time" value="false"/>
    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
      <!--remap from="scan" to="base_scan"/-->
      <param name="maxUrange" value="5.5"/>
      <param name="maxRange" value="5.5"/>
      <param name="delta" value="0.25"/>
      <param name="linearUpdate" value="-1"/>
      <param name="angularUpdate" value="-1"/>
      <param name="temporalUpdate" value="-1"/>
      <param name="particles" value="30"/>
</launch>

Any idea why?

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Comments

Is the robot moving with teleop or with move_base?

kosmastsk ( 2019-01-11 03:33:01 -0600 )edit

At first glance I'd say that your map is far too low resolution for your application. I'd recommend reducing the cell size/increasing the resolution by 5 to 10 times and see how it works.