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Manually correcting gmapping?

asked 2012-05-30 06:11:33 -0500

TaylorC gravatar image

I am currently using a turtlebot in an office setting (cubicles/hallways create very few unique landmarks). My bot is attempting localization and placing itself in various incorrect areas. Is there a way to tell the bot where it roughly is within rviz? I tried using the 2D Pose Estimate but that doesn't work.

Thanks! TaylorC

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Just to be clear, are you using gmapping, or amcl? gmapping performs both mapping and localization. If you already have a map, you should use amcl, which just does localization and can use the 2D pose estimate from rviz.

Dan Lazewatsky gravatar image Dan Lazewatsky  ( 2012-05-30 06:15:13 -0500 )edit

I am using gmapping and have yet to get a solid and accurate map.

TaylorC gravatar image TaylorC  ( 2012-05-30 06:36:20 -0500 )edit
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Ensure that your turtlebot odometry is correct before running gmapping. Have you already gone through this tutorial already: http://www.ros.org/wiki/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro?

piyushk gravatar image piyushk  ( 2012-05-30 07:04:44 -0500 )edit

I have calibrated it. I had to use rviz and manually calibrate it. The calibration program kept giving me higher and higher values. It maps unique rooms fine but has trouble with similar rooms. It will localize itself to a similar room.

TaylorC gravatar image TaylorC  ( 2012-05-30 08:58:02 -0500 )edit

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answered 2013-01-02 13:25:16 -0500

tfoote gravatar image

That's not a capability the version of Gmapping in ROS currently supports.

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Asked: 2012-05-30 06:11:33 -0500

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Last updated: Jan 02 '13