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Hello,
I ran gmapping and i am able to get this map. I have Rplidar and wheel encoders and the required transforms. Are there any parameters that you guys think i can tune after looking at the map right off the bat. And any other default combination of parameters that would make the map better would be very much appreciated. I will be happy to provide further information if necessary. Thanks in advance.
I'm using Kinect and compared to the default settings, changing these parameters has improved my map quality.
rosparam set /slam_gmapping/angularUpdate 0.1
rosparam set /slam_gmapping/linearUpdate 0.1
rosparam set /slam_gmapping/lskip 10
rosparam set /slam_gmapping/xmax 10
rosparam set /slam_gmapping/xmin -10
rosparam set /slam_gmapping/ymax 10
rosparam set /slam_gmapping/ymin -10
Just change your launch file's parameter values with these if you want the change to be permanent. Other than tuning the parameters, moving at a slower speed can also improve the map quality.
Asked: 2019-03-21 06:43:53 -0600
Seen: 1,155 times
Last updated: Mar 21 '19
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