Gmapping map does not reflect actual room configuration

asked 2019-09-09 22:23:24 -0600

accutting gravatar image

updated 2019-09-10 10:29:04 -0600

Hello all,

I just got gmapping up and running with a sample rosbag that I recorded, but the map does not resemble the room where the data was recorded (or any map at all).

I am using an iRobot Create 2 with an RP LIDAR A2. I did not modify the default create URDF after adding the LIDAR but an running a static transform while running the rosbag to generate the map:

rosrun tf2_ros static_transform_publisher 0 0 0.1 0 0 0 /base_frame /scan_frame

Here are are my thoughts on possible causes of the map not generating properly: 1) /tf issue - the LIDAR data may not be properly alligned with the base, maybe off by 180? 2) The quality of odometry may just be terrible and this platform is not well suited for SLAM

Is there something else I could be missing? Any insight would be greatly appreciated!

Here is a sample /tf from the robot:

{ "transforms": [ { "header": { "stamp": { "secs": 1567610189, "nsecs": 432388718 }, "frame_id": "odom", "seq": 0 }, "transform": { "translation": { "y": -0.0005495854, "x": 0.0168445315, "z": 0 }, "rotation": { "y": 0, "x": 0, "z": -0.0266392006, "w": 0.9996451135000001 } }, "child_frame_id": "base_footprint" } ] }}

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I've increased your reputation, so you should be able to post an image of your map now.

ahendrix gravatar image ahendrix  ( 2019-09-09 23:14:36 -0600 )edit

@accutting: "something terribly wrong with it": that may be the case, but it's far from a descriptive title. Please update the title of your post to better reflect what you observe (don't include a possible cause).

Better titles improve the chance that future readers will be able to find your question, which benefits us all (less duplicates, less support effort, etc).

gvdhoorn gravatar image gvdhoorn  ( 2019-09-10 02:16:05 -0600 )edit

@ahendrix I have tried but am still unable to upload the map

accutting gravatar image accutting  ( 2019-09-10 14:03:38 -0600 )edit

Can you post your gmapping config / launch file? Try these steps to evaluate the quality of your odometry.

moooeeeep gravatar image moooeeeep  ( 2019-09-11 02:34:25 -0600 )edit