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how to get accurate map using gmapping?

asked 2019-12-20 03:53:25 -0600

noor gravatar image

updated 2019-12-20 12:12:48 -0600

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"

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answered 2019-12-20 04:42:33 -0600

ct2034 gravatar image

updated 2019-12-20 04:45:47 -0600

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.

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Asked: 2019-12-20 03:53:25 -0600

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Last updated: Dec 20 '19