gmapping seems to ignore odometry data [closed]

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Hi,

I'm new to ROS and just managed to get the Kinect fake lasescan and a driver node for my robot hardware working. Now I tried the slam_gmapping to create a map of my room, but the map creation quality is far away from the maps you can see on youtube, e.g. http://www.youtube.com/watch?feature=...

It seems to me like gmapping ignores the published odometry data and frames because the estimated position jumps the whole time. Even if the robot rotates on the same spot it happens that the estimated position jumps for around 30-40cm. The curious thing is that my odometry is quite good and the laser scans would fit absolutely perfectly to the available map without any jumping.

Is there a possibility to say gmapping that it should stick to the odometry and make only small corrections?

Thanks and regards - jgdo -

Update:

thanks four Your reply! I'm not using the turtlebot but a self made robot with kinect and a notebook, and I so don't have any calibration software for that. What does the turtlebot calibration do? At my robot i adjusted the odometery by manually driving and rotating and they seem to work good since i can drive around and when i come back to the original place, the computed coordinates are near to zero.

here is a bagfile containing scan, tf, odometry and the map.

As you can see at the beginning gmapping tries to match the new scans to the existing part of the map instead of extending it, which causes the estimated position to jump. To get a good map its is necessary to drive backwards to a corner so the kinect can see two opposite walls at same time.

I hope this data is enough for you, if not i can make a longer example, but the behavior is the same.

Thanks again and regards - jgdo -