Hello !

Actually I'm working on a SLAM robot using a Raspberry PI3B with Ubuntu Mate 16.04 et ROS Kinetic.

I started with the mapping (using Hector_Slam) and the result was pretty good.

For the localization, I use in a first time a laserscanmatcher node to get the pose and rotation of the robot and the result was pretty good without any IMU data and ACML or EKF techniques.

But using the scan_matching I have big problems when I make big rotation with my robot and the rotation drift and my mapping is wrong.

So I search how to use AMCL to make better localisation/rotation prediction. But the result is even worse ! And I get a drift instantly when I rotate the robot.

Below you will see all my information, do you see any problems in my using of AMCL ?

Do I strictly need an IMU for get good rotations predictions ? Can I just do not use the rotation for my SLAM project and just use the pose prediction ?

Lidar ( RPLIDAR A1)

 <launch>
          <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
          <param name="serial_port"         type="string" value="/dev/ttyUSB0"/>  
          <param name="serial_baudrate"     type="int"    value="115200"/>
          <param name="frame_id"            type="string" value="laser"/>
          <param name="inverted"            type="bool"   value="false"/>
          <param name="angle_compensate"    type="bool"   value="true"/>
          </node>
   </launch>

Mapping / Localization

<launch>

<arg name="trajectory_source_frame_name" default="/laser"/>
  <arg name="trajectory_update_rate" default="1"/> 
  <arg name="trajectory_publish_rate" default="1"/>
  <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
  <arg name="map_file_base_name" default="hector_slam_map"/>

  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
    <param name="target_frame_name" type="string" value="/map" />
    <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />
    <param name="trajectory_update_rate" type="double" value="$(arg trajectory_update_rate)" />
    <param name="trajectory_publish_rate" type="double" value="$(arg trajectory_publish_rate)" />
  </node>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_link laser 100" />


 <node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">


    <param name="base_frame" value="base_link"/>
    <param name="fixed_frame" value="odom"/>
    <param name="use_alpha_beta" value="false"/>
    <param name="use_odom" value="true"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="4"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="true"/>


  </node>

    <node pkg="hector_mapping" type="hector_mapping" name="hector_height_mapping" output="screen">
     <param name="scan_topic" value="scan" />
    <param name="base_frame" value="base_link" />
    <param name="odom_frame" value="base_link" />

    <param name="output_timing" value="false"/>
    <param name="advertise_map_service" value="true"/>
    <param name="use_tf_scan_transformation" value="false"/>
    <param name="use_tf_pose_start_estimate" value="false"/>
    <param name="pub_map_odom_transform" value="false"/>
    <param name="map_with_known_poses" value="false"/>
    <param name="pub_map_scanmatch_transform" value="false"/>

    <param name="map_pub_period" value="0.9"/>
    <param name="update_factor_free" value="0.45"/>
    <param name="laser_max_dist" value="12"/>
    <param name="map_update_distance_thresh" value="0.4"/>
    <param name="map_update_angle_thresh" value="1"/>

    <param name="map_resolution" value="0.05"/>
    <param name="map_size" value="1024"/>
    <param name="map_start_x" value="0.5"/>
    <param name="map_start_y" value="0.5"/>

    <param name="pub_odometry" value="true"/>



  </node>

<node pkg="amcl" type="amcl" name="amcl" output="screen">

  <param name="use_map_topic " value="true"/>



  <param name="odom_model_type" value="diff"/>

  <param name="odom_alpha5" value="0.1"/>

  <param name="transform_tolerance" value="0.2" />

  <param name="gui_publish_rate" value="10.0"/>

  <param name="laser_max_beams" value="30"/>

  <param name="min_particles" value="500"/>

  <param name="max_particles" value="5000"/>

  <param name="kld_err" value="0.01"/>

  <param name="kld_z" value="0.99"/>

  <param name="odom_alpha1" value="0.2"/>

  <param name="odom_alpha2" value="0.2"/>



  <param name="odom_alpha3" value="0.8"/>

  <param name="odom_alpha4" value="0.2"/>

  <param name="laser_z_hit" value="0.5"/>

  <param name="laser_z_short" value="0.05"/>

  <param name="laser_z_max" value="0.05"/>

  <param name="laser_z_rand" value="0.5"/>

  <param name="laser_sigma_hit" value="0.2"/>

  <param name="laser_lambda_short" value="0.1"/>

  <param name="laser_lambda_short" value="0.1"/>



  <param name="laser_model_type" value="beam"/> 

  <param name="laser_likelihood_max_dist" value="2.0"/>

  <param name="update_min_d" value="0.2"/>

  <param name="update_min_a" value="0.1"/>

  <param name="odom_frame_id" value="odom"/>

  <param name="resample_interval" value="1"/>

  <param name="transform_tolerance" value="0.1"/>

  <param name="recovery_alpha_slow" value="0.0"/>

  <param name="recovery_alpha_fast" value="0.0"/>

</node>

    </launch>