Ask Your Question

Rviz Unstable Map Gmapping

asked 2020-05-25 17:52:15 -0500

bfdmetu gravatar image

updated 2020-05-25 20:22:54 -0500

billy gravatar image

Hi. I am trying to make a gmapping. I have a Rplidar. 16.04 Kinetic Kame. My Rviz map is unstable. How can I solve this problem


                <!--  ************** Odometry ***************  -->
    <arg name="gui" default="True" />
    <param name="use_gui" value="$(arg gui)"/>
    <param name="robot_description" command="cat $(find nox_description)/urdf/nox.urdf" />

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

    <node name="serial_node" pkg="rosserial_python" type="">
        <param name="port" value="/dev/ttyUSB1"/>

    <node name="nox_controller" pkg="nox" type="nox_controller">
        <param name="publish_tf" value="true" />
            <param name="publish_rate" value="10.0" />
            <param name="linear_scale_positive" value="1.025" />
            <param name="linear_scale_negative" value="1.025" />
            <param name="angular_scale_positive" value="1.078" />
            <param name="angular_scale_negative" value="1.078" />
        <param name="angular_scale_accel" value="0.0" />

============= Slam.Launch

                <!--  ************** Odometry ***************  -->
    <param name="robot_description" command="cat $(find ptype_wa_description)/urdf/ptype_wa.urdf" />

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <rosparam param="source_list">["odom_comm/joint_states"] </rosparam>
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />                

    <node name="odom_comm" pkg="ptype_wa" type="odom_comm" />
    <node name="odom_broadcaster_ptype_wa" pkg="ptype_wa" type="odom_broadcaster_ptype_wa" />

                <!--  ************** Sensors ***************  -->
    <node name="urg_node" pkg="urg_node" type="urg_node" output="screen">
        <param name="ip_address" value=""/>
        <param name="frame_id" value="/base_laser"/>

                <!--  ************** gmapping ***************  -->
    <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" output="screen"/>

            <!--  ************** Navigation ***************  -->
    <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
        <rosparam file="$(find ptype_wa_control)/cfg/costmap_common_params.yaml" command="load" ns="global_costmap" />
        <rosparam file="$(find ptype_wa_control)/cfg/costmap_common_params.yaml" command="load" ns="local_costmap" />
        <rosparam file="$(find ptype_wa_control)/cfg/local_costmap_params.yaml" command="load" />
        <rosparam file="$(find ptype_wa_control)/cfg/global_costmap_params.yaml" command="load" />
        <rosparam file="$(find ptype_wa_control)/cfg/teb_local_planner_params.yaml" command="load" />

        <param name="base_global_planner" value="global_planner/GlobalPlanner" />
        <param name="planner_frequency" value="1.0" />
        <param name="planner_patience" value="5.0" />

        <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
        <param name="controller_frequency" value="5.0" />
        <param name="controller_patience" value="15.0" />

      <param name="clearing_rotation_allowed" value="false" /> <!-- Our carlike robot is not able to rotate in place -->

    <node name="ptype_wa_controller" pkg="ptype_wa_control" type="ptype_wa_controller" output="screen" />

                <!--  ************* Visualisation **************  -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ptype_wa_control)/cfg/rviz_slam.rviz" required="true" />

edit retag flag offensive close merge delete


Solve it by breaking it down into smaller pieces. When viewing the laser scan in RVIZ, is the laser scan stable?

billy gravatar image billy  ( 2020-05-25 20:24:59 -0500 )edit

I try hector mapping and some other code. These code works normally, However when i use this code mapping and scanner turning permanently

bfdmetu gravatar image bfdmetu  ( 2020-05-26 02:25:11 -0500 )edit

1 Answer

Sort by » oldest newest most voted

answered 2020-05-26 04:52:39 -0500

bfdmetu gravatar image

OK I solved the problem. It is about the encoder connection. One of encoder jumper was missing. For this reason robot thinks robot turning permanently.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2020-05-25 17:52:15 -0500

Seen: 177 times

Last updated: May 26 '20