neato xv 11 lidar problem/ Hector slam/bad data

asked 2019-05-22 07:46:30 -0500

fyi gravatar image

updated 2019-05-22 10:51:14 -0500

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   
A   16  I   
A   17  I   
A   18  I   
A   19  I   
A   20  I   
A   21  I   
A   22  I   
A   23  I   
A   24  I   
A   25  I   
A   26  I   
A   27  I   
A   28  I   
A   29  I   
A   30  I   
A   31  I   
A   32  I   
A   33  I   
A   34  I   
A   35  I   
A   36  I   
A   37  I   
A   38  I   
A   39  I   
A   40  I   
A   41  I   
A   42  I   
A   43  I   
A   44  I   
A   45  I   
A   46  I   
A   47  I   
A   48  I   
A   49  I   
A   50  I   
A   51  I   
A   52  I   
A   53  I   
A   54  I   
A   55  I   
A   56  I   
A   57  I   
A   58  I   
A   59  I   
A   60  I   
A   61  I   
A   62  I   
A   63  I   
A   64  I   
A   65  I   
A   66  I   
A   67  I   
A   68  I   
A   69  I   
A   70  I   
A   71  I   
A   72  I   
A   73  I   
A   74  I   
A   75  I   
A   76  I   
A   77  I   
A   78  I   
A   79  I   
A   80  I   
A   81  I   
A   82  I   
A   83  I   
A   84  I   
A   85  I   
A   86  I   
A   87  I   
A   88  I   
A   89  I   
A   90  I   
A   91  I   
A   92  I   
A   93  I   
A   94  I   
A   95  I   
A   96  I   
A   97  I   
A   98  I   
A   99  I   
A   100 I   
A   101 I   
A   102 I   
A   103 I   
A   104 I   
A   105 I   
A   106 I   
A   107 I   
A   108 I   
A   109 I   
A   110 I   
A   111 I   
A   112 I   
A   113 I   
A   114 I   
A   115 I   
A   116 I   
A   117 I   
A   118 I   
A   119 I   
A   120 I   
A   121 I   
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   
A   136 I   
A   137 I   
A   138 901 120
A   139 I   
A   140 I   
A   141 I   
A   142 I   
A   143 I   
A   144 I   
A   145 I   
A   146 I   
A   147 I   
A   148 I   
A   149 I   
A   150 I   
A   151 I ...
(more)
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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?

juanlu gravatar imagejuanlu ( 2019-05-22 08:18:54 -0500 )edit

hi juanlu please find attached the gif https://1drv.ms/u/s!AouYu9nW2EuOihGBE... sorry I'm not sure how to get it on here

fyi gravatar imagefyi ( 2019-05-22 10:51:38 -0500 )edit

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

juanlu gravatar imagejuanlu ( 2019-06-06 15:03:58 -0500 )edit

Thanks i managed to solve it now

fyi gravatar imagefyi ( 2019-06-12 09:21:12 -0500 )edit

How did you solve it?

juanlu gravatar imagejuanlu ( 2019-06-12 11:42:21 -0500 )edit