how to get accurate map using gmapping?

when i create map using gmapping as per instructions provided on https://learn.turtlebot.com/2015/02/03/8/ i get overlapping areas in map and incorrect shapes.

and then i check on gmapping command screen then it has a lot of scan matching error failure message "scan matching failed using odometry"

Asked by noor on 2019-12-20 04:53:25 UTC

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Answers

Can you please make sure that your odometry works. You can do this by starting only the robot drivers without gmapping and look in rviz whether the robot position is still roughly correct. Set the rviz global frame to base_footprint and look for the tf frame called odom. It should at least react to the movements of the robot.

Also, make sure to fully understand the default setup of the nav stack.

Please let me know how you get along.

Asked by ct2034 on 2019-12-20 05:42:33 UTC