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simulated turtlebot mapping itself

asked 2012-06-07 05:56:03 -0500

Intellethan gravatar image

Hi,

I am trying to simulate a turtlebot gmapping with gazebo, a la this tutorial http://mirror.umd.edu/roswiki/turtlebot_simulator%282f%29Tutorials%282f%29Building%2820%29a%2820%29Map%2820%29in%2820%29TurtleBot%2820%29Simulator.html

My issue is that although I have gmapping up and running, I can't get anything close to an accurate map because the laserscan appears to be picking up the bot itself. it places an object where the robot was, and then fails to localize due to the object no longer being there once the bot moves.

Is there any way that I can exempt the robot from the scan?

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Will you please post a bag file? I'd like to have a look at this situation... Record the tf, scan, odom, imu topics.

allenh1 gravatar imageallenh1 ( 2012-06-07 06:01:46 -0500 )edit

Please post the image of the map in rviz so that i could analyse the issue.

karthik gravatar imagekarthik ( 2012-06-07 06:06:31 -0500 )edit

I don't know how to post a bag file, but I will if you tell me how.

Intellethan gravatar imageIntellethan ( 2012-06-07 11:24:27 -0500 )edit

Here is a screenshot of rviz.

http://imgur.com/qEmcn

As you can see, the room is well mapped, but the robot has left little bits of wall along the path that I drove it. For now it is localized properly, but the more I drive, the more likely these artifacts are to mess with localization.

Intellethan gravatar imageIntellethan ( 2012-06-07 11:33:24 -0500 )edit

also, note that the little green boxes that represent an object being picked up by the laserscan are also lighting up around the base of the robot. After close analysis the scan appears to be picking up on the four support bars in the robot model

Intellethan gravatar imageIntellethan ( 2012-06-07 11:34:51 -0500 )edit

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answered 2012-06-07 12:50:48 -0500

joq gravatar image

One common solution to this problem is to filter out scans that are less than some minimum distance from the sensor.

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Do you know of any good method of doing this? I can't seem to find a parameter or file to change to create this filter.

Intellethan gravatar imageIntellethan ( 2012-06-12 08:30:29 -0500 )edit
Grega Pusnik gravatar imageGrega Pusnik ( 2012-10-09 01:45:48 -0500 )edit
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answered 2012-06-08 04:47:12 -0500

allenh1 gravatar image

Take a look at the launch file here. You can narrow your laser with this. This can adjust the F.O.V. for the laser to avoid scanning the robot in your scan.

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Asked: 2012-06-07 05:56:03 -0500

Seen: 741 times

Last updated: Jun 08 '12