Effects of laser not publishing messages sometimes on mapping?

asked 2020-09-04 09:43:10 -0600

parzival gravatar image

updated 2020-09-04 09:45:37 -0600

Hi, I'm using a 2D 360degree laser scanner which publishes on /scan topic at a rate of ~5Hz. Although sometimes it skips publishing messages on the topic, and I verify this by getting the output no new messages when I type the command rostopic hz /scan

It doesn't happen quite a lot, but I think when it does, it spoils the entire mapping. This is just an assumption, and I was wondering if someone can help verify this? I'm using hector_mapping for SLAM, and I see bot's tf stop moving for a second or so, and then it jumps somewhere else unexpectedly, and then map too jumps around and lose matching with the map built so far.

I couldn't find any other possible reason for this happening, except for problem in lidar. I'm also attaching a rosbag with laser scans, tfs, /odom while moving the bot. As you might see after trying with hector_mapping over it, the map built is very bad

Rosbag: https://drive.google.com/file/d/1Ly_k...

Any help would be much appreciated :)

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