How can I precisely set the same size of the slam map generated by (gmapping, Hectorslam, Kartoslam and chartographer)

asked 2020-04-08 10:14:05 -0500

dhaour9x gravatar image


When in use gmapping, Hectorslam, Kartoslam and chartographer package to create a map it makes a very small map (see images). The Kartoslam map is bigger then oder slam map.I don't know why ?

  1. How can I precisely set the size of the slam map generated by (gmapping, Hectorslam, Kartoslam and chartographer)

In attachement you find the generate SLAM map and the launch files

I would appreciate an answer.

image description image description image description


# General Parameters
use_scan_matching: true
use_scan_barycenter: true
minimum_travel_distance: 0.12 
minimum_travel_heading: 0.174             #in radians
scan_buffer_size: 70
scan_buffer_maximum_scan_distance: 3.5
link_match_minimum_response_fine: 0.12
link_scan_maximum_distance: 3.5
loop_search_maximum_distance: 3.5
do_loop_closing: true
loop_match_minimum_chain_size: 10
loop_match_maximum_variance_coarse: 0.4   # gets squared later
loop_match_minimum_response_coarse: 0.8
loop_match_minimum_response_fine: 0.8

# Correlation Parameters - Correlation Parameters
correlation_search_space_dimension: 0.3
correlation_search_space_resolution: 0.025
correlation_search_space_smear_deviation: 0.03

# Correlation Parameters - Loop Closure Parameters
loop_search_space_dimension: 8.0
loop_search_space_resolution: 0.025
loop_search_space_smear_deviation: 0.03

# Scan Matcher Parameters
distance_variance_penalty: 0.3      # gets squared later
angle_variance_penalty: 0.349       # in degrees (gets converted to radians then squared)
fine_search_angle_offset: 0.00349   # in degrees (gets converted to radians)
coarse_search_angle_offset: 0.349   # in degrees (gets converted to radians)
coarse_angle_resolution: 0.0349     # in degrees (gets converted to radians)
minimum_angle_penalty: 0.9
minimum_distance_penalty: 0.5
use_response_expansion: false


  <!-- Arguments -->
  <arg name="model" default="waffle" doc="waffle"/>
  <arg name="configuration_basename" default="turtlebot3_lds_2d.lua"/>
  <arg name="set_base_frame" default="base_footprint"/>
  <arg name="set_odom_frame" default="odom"/>
  <arg name="set_map_frame"  default="map"/>

  <!-- Gmapping -->
  <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="pub_map_odom_transform" value="true"/>
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <param name="map_update_interval" value="2.0"/>
    <param name="maxUrange" value="3.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="50"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.2"/>
    <param name="temporalUpdate" value="0.5"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="100"/>
    <param name="xmin" value="-100.0"/>
    <param name="ymin" value="-100.0"/>
    <param name="xmax" value="100.0"/>
    <param name="ymax" value="100.0"/>
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>


  <!-- Arguments -->
  <arg name="model" default="waffle" doc="waffle"/>
  <arg name="configuration_basename" default ...
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