Neato Xv 11 Lidar Hector map keeps jumping
I have been working with the XV_11 lidar.. I have been able to display a scan on ros after installing the XV_11 Driver. Now i have progressed onto hector mapping.
Installed the hector mapping.. when i run hector_neato.launch file i my map keeps jumping and in the terminal it says
SearchDir angle change too large
and after some time it dies with
[hector_mapping-4] process has died [pid 21496, exit code -11, cmd /home/catkin_ws/devel/lib/hector_mapping/hector_mapping __name:=hector_mapping __log:=/home/.ros/log/bc063610-6871-11e9-a40b-001c4251406b/hector_mapping-4.log].
log file: /home/.ros/log/bc063610-6871-11e9-a40b-001c4251406b/hector_mapping-4*.log
i have heard rpm can sometimes cause bytes to be lost hence I did a test at different rpms. i seemed to get the most stable map at 302 rpm however the map still flickers and is not fully stable with the same "SearchDir angle change too large" i am using a Tip 120 for PWM control of the motor and passing the lidar data through a logic level converter