how to edit gmapping.launch.xml?
I am using turtlebot with astra sensor on ros indigo. I am having issues with creating an accurate map. it does not matter if i use it with simulation only or also connect with real turtlebot I keep getting the same error messages during creating map process. *"Scan Matching Failed, using odometry, likelihood = some number"*
I am not getting any help from anywhere. I have tried to update gmapping.launch.xml but it is read-only, can you help me that how to update parameters in this file. here is my initial configuration when i run gmapping.
... logging to /home/turtlebot/.ros/log/e6e79614-2232-11ea-a1e8-802bf9015fcb/roslaunch-turtlebot-Inspiron-3185-3393.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:39887/
SUMMARY PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /slam_gmapping/angularUpdate: 0.436 * /slam_gmapping/astep: 0.05 * /slam_gmapping/base_frame: base_footprint * /slam_gmapping/delta: 0.05 * /slam_gmapping/iterations: 5 * /slam_gmapping/kernelSize: 1 * /slam_gmapping/lasamplerange: 0.005 * /slam_gmapping/lasamplestep: 0.005 * /slam_gmapping/linearUpdate: 0.5 * /slam_gmapping/llsamplerange: 0.01 * /slam_gmapping/llsamplestep: 0.01 * /slam_gmapping/lsigma: 0.075 * /slam_gmapping/lskip: 0 * /slam_gmapping/lstep: 0.05 * /slam_gmapping/map_update_interval: 5.0 * /slam_gmapping/maxRange: 8.0 * /slam_gmapping/maxUrange: 6.0 * /slam_gmapping/minimumScore: 200 * /slam_gmapping/odom_frame: odom * /slam_gmapping/ogain: 3.0 * /slam_gmapping/particles: 80 * /slam_gmapping/resampleThreshold: 0.5 * /slam_gmapping/sigma: 0.05 * /slam_gmapping/srr: 0.01 * /slam_gmapping/srt: 0.02 * /slam_gmapping/str: 0.01 * /slam_gmapping/stt: 0.02 * /slam_gmapping/temporalUpdate: -1.0 * /slam_gmapping/xmax: 1.0 * /slam_gmapping/xmin: -1.0 * /slam_gmapping/ymax: 1.0 * /slam_gmapping/ymin: -1.0
NODES / slam_gmapping (gmapping/slam_gmapping)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[slam_gmapping-1]: started with pid [3415] -maxUrange 6 -maxUrange 8 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05 -srr 0.01 -srt 0.02 -str 0.01 -stt 0.02 -linearUpdate 0.5 -angularUpdate 0.436 -resampleThreshold 0.5 -xmin -1 -xmax 1 -ymin -1 -ymax 1 -delta 0.05 -particles 80 update frame 0 update ld=0 ad=0 Laser Pose= -0.0866988 0.048044 -0.00490948 m_count 0 Registering First Scan
Can you please clarify what you are trying to do, what you expect to happen and what happens instead? And please improve the formatting of your question
I am trying to create a map using roslaunch turtlebot_gazebo gmapping_demo.launch but generated map gives incorrect overlapping shapes and constantly gives error messages like "scan matching failed using odometry"