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gmapping parameter tuning

asked 2019-03-21 06:43:53 -0500

Hemanth gravatar image

image description 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.

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answered 2019-03-21 07:13:39 -0500

ZeroSan gravatar image

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.

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Asked: 2019-03-21 06:43:53 -0500

Seen: 1,101 times

Last updated: Mar 21 '19