Gmapping problem when limiting sensor range to 90 degree

asked 2020-02-22 18:23:09 -0500

zhefan gravatar image

I am testing planning algorithm using gazebo simulation with turtlebot, and I want to use gmapping. The lds sensor in turtlebot is 360 degree, but I want to test the 90 degree case. So, I change the urdf file of turtlebot:

<gazebo reference="base_scan">
    <sensor type="ray" name="lds_lfcd_sensor">
      <pose>0 0 0 0 0 0</pose>
      <visualize>$(arg laser_visual)</visualize>
            <!-- <min_angle>0.0</min_angle> -->
            <!-- <max_angle>6.28319</max_angle> -->
      <plugin name="gazebo_ros_lds_lfcd_controller" filename="">

But when I do this, gmapping cannot give me a accurate map when robot make moves. I don't know exacly how gmapping works, but I think missing a part of scan data would cause some problem to the gmapping algorithm. So, is there any way that I can limit angle of sensor without disturbing gmapping?

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