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neato xv 11 lidar problem/ Hector slam/bad data

hi i have been trying to do hector slam with the lidar but the map keeps jumping so i decided to analyse the data and it seems really bad any advice would be sufficient on how to overcome this

Thanks

A   0   I   
A   1   I   
A   2   I   
A   3   I   
A   4   I   
A   5   I   
A   6   I   
A   7   I   
A   8   I   
A   9   I   
A   10  I   
A   11  I   
A   12  I   
A   13  I   
A   14  I   
A   15  I   
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A   93  I   
A   94  I   
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A   96  I   
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A   100 I   
A   101 I   
A   102 I   
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A   122 I   
A   123 I   
A   124 I   
A   125 I   
A   126 I   
A   127 S   
A   128 S   
A   129 S   
A   130 S   
A   131 378 155
A   132 378 262
A   133 377 374
A   134 S   
A   135 I   
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A   137 I   
A   138 901 120
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A   213 I   
A   214 S   
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A   221 S   
A   222 405 104
A   223 S   
A   224 408 88
A   225 410 114
A   226 S   
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A   248 I   
A   249 I   
A   250 I   
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A   252 I   
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A   254 I   
A   255 I   
A   256 I   
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A   258 I   
A   259 I   
A   260 I   
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A   263 I   
A   264 I   
A   265 I   
A   266 I   
A   267 I   
A   268 I   
A   269 I   
A   270 I   
A   271 I   
A   272 I   
A   273 I   
A   274 I   
A   275 436 149
A   276 426 447
A   277 421 516
A   278 419 577
A   279 418 594
A   280 417 610
A   281 418 619
A   282 420 603
A   283 422 571
A   284 426 579
A   285 429 561
A   286 433 550
A   287 437 527
A   288 442 515
A   289 446 497
A   290 450 493
A   291 456 462
A   292 461 439
A   293 467 464
A   294 473 428
A   295 479 429
A   296 485 405
A   297 492 375
A   298 499 379
A   299 505 381
A   300 513 338
A   301 521 356
A   302 528 323
A   303 537 275
A   304 546 292
A   305 555 274
A   306 564 269
A   307 575 249
A   308 584 237
A   309 595 223
A   310 609 197
A   311 626 153
A   312 I   
A   313 I   
A   314 I   
A   315 I   
A   316 I   
A   317 I   
A   318 I   
A   319 I   
A   320 I   
A   321 I   
A   322 I   
A   323 I   
A   324 I   
A   325 I   
A   326 I   
A   327 751 83
A   328 744 100
A   329 741 108
A   330 738 124
A   331 733 57
A   332 734 90
A   333 736 114
A   334 735 74
A   335 749 51
A   336 757 56
A   337 760 85
A   338 771 79
A   339 766 84
A   340 770 92
A   341 770 71
A   342 773 74
A   343 782 54
A   344 797 47
A   345 813 70
A   346 837 40
A   347 861 43
A   348 881 29
A   349 894 23
A   350 927 23
A   351 I   
A   352 1006    7
A   353 1089    11
A   354 I   
A   355 I   
A   356 I   
A   357 I   
A   358 I   
A   359 I

Link for GIF https://1drv.ms/u/s!AouYu9nW2EuOihGBEqO9obPmup3J

Link for Video https://1drv.ms/v/s!AouYu9nW2EuOihJHuBLDb-tNeX7A

Asked by fyi on 2019-05-22 07:46:30 UTC

Comments

Hi, the data doesn't look bad to me, I'm assuming the "I" represents Infinite for the lidar rays that aren't hitting anything within their range and the other numbers represent actual hits.

Anyway, sensor data here doesn't help us much to understand your problem, could you add some captures or gifs of the map jumping?

Asked by juanlu on 2019-05-22 08:18:54 UTC

hi juanlu please find attached the gif https://1drv.ms/u/s!AouYu9nW2EuOihGBEqO9obPmup3J sorry I'm not sure how to get it on here

Asked by fyi on 2019-05-22 10:51:38 UTC

At first sight I think the fixed frame is not correct, can you try setting it up to base_link?

Asked by juanlu on 2019-06-06 15:03:58 UTC

Thanks i managed to solve it now

Asked by fyi on 2019-06-12 09:21:12 UTC

How did you solve it?

Asked by juanlu on 2019-06-12 11:42:21 UTC

Answers