Sensor smearing for Husky, problem with localizing?

asked 2020-07-08 10:07:58 -0500

ildaniel gravatar image

I'm working with Clearpath Robotic's Husky and the explorer_lite package. I created a workspace with only those two oackages:

And when I run the greedy explorer of explorer_lite, running source ~/husky_ws/devel/setup.bash in each terminal that I open, with the following commands:

roslaunch husky_gazebo husky_playpen.launch

roslaunch husky_viz view_robot.launch

roslaunch husky_navigation gmapping.launch

roslaunch husky_navigation move_base.launch /odom:=/odometry/filtered

roslaunch explore_lite explore.launch

The robot moves, but the map very clearly becomes distorted as if the Husky is seeing objects multiple times. The error becomes increasingly apparent as the simulation runs. Is this a problem with the update rate or mapping or sensors? I haven't been able to find the solution.. Thank you for any help and your time!

image description

edit retag flag offensive close merge delete