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Laser scan matcher covariance

asked 2020-02-25 13:49:14 -0500

Lotfi_Z
1 ●2 ●3 ●2

updated 2020-02-26 12:12:10 -0500

Hello,

Im using laser scan matching from scan_tools package and it work perfectly, when my robot go through a corridor (featureless environment ) the position is shifting and this is what i expected due to the limitation of ICP, but what i dont understand its why the covariance (published in pose_with_covariance topic ) does not increase in this kind of under constrained environments.

UPDATE : Here two pictures showing my problematic :

1- Covariance in "normal" environment

2- Covariance in "corridor" environment

Thank you for you help,

Best Regards

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answered 2020-02-26 10:49:25 -0500

bob-ROS

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Did you set the parameter "do_compute_covariance" to 1? It is off (0) by default.

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yes and the covariance is computed and i see this in /pose_with_covariance topic but my problem is that the covariance does not increase in corridors even when the robot pose is shifted. I updated my original post providing pictures. Thank you for your help

Lotfi_Z ( 2020-02-26 11:53:34 -0500 )edit

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Asked: 2020-02-25 13:49:14 -0500

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Last updated: Feb 26 '20

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