Inverted map when slam_gmapping with MobileSim

asked 2019-11-11 08:26:05 -0600

fendrbud gravatar image

updated 2019-11-12 02:38:32 -0600

I'm trying to implement the ROS navigation stack on a Pioneer LX robot interfaced with ROSARIA. When I try to create a map using gmapping by driving the robot around in a existing map in MobileSim, the resulting map in RViz seems to be up-side down - or inverted - in relation to the map in MobileSim.

Will this pose an issue when running the navigation stack in the simulated environment in MobileSim? I'm curious about this, since when I test the navigation on this map, the AMCL localization does not work properly (the pose array arrows diverge).

edit: Is there a reson why the pointcloud and laserscan are inverted in relation to eachother? Look at this image. It seems that the Pointcloud (flat squares) are correctly oriented while the Laserscan (boxes) are inverted.

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Comments

I'm not a mobile nav expert, but would an inverted laser scanner / sensor not cause this?

Also: is this not a duplicate/strongly related to #q337389?

gvdhoorn gravatar imagegvdhoorn ( 2019-11-12 03:45:32 -0600 )edit

Wouldn't then the pointcloud also be flipped? And yes, this post was maybe too similar to the one you mentioned, however, my original question here was if this inverted map poses an issue when running the navigation stack.

fendrbud gravatar imagefendrbud ( 2019-11-12 14:11:54 -0600 )edit