Not accurate map with Gmapping, Slam_karto and Hector_Slam

asked 2021-01-21 06:58:45 -0600

Fawkess14 gravatar image

updated 2021-01-24 10:45:26 -0600

My simulation environment is LGSVL I use VLP-16 LIDAR and pointcloud_to_laserscan package for laserscan and scans are quite accurate also LGSVL environment provide odom data but all three slam algorithm create very bad map as you see. I can not find the problem. PS:I can't add picture so I add link

Output of Slam_karto image description

Output of Hector_slam image description

Output of Gmapping image description

<node pkg="tf" type="static_transform_publisher" name="base_link_to_velodyne"
args="0.0 0.0 0.0 0.0 0.0 0.0 base_link velodyne 100" />

<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">

    <remap from="cloud_in" to="/points/for_laser"/>
    <remap from="scan" to="/scan"/>
        target_frame: velodyne # Leave disabled to output scan in pointcloud frame
        transform_tolerance: 0.01
        min_height: 0.0
        max_height: 1.0

        angle_min: -3.1415974 # -M_PI/2
        angle_max: 3.1415974 # M_PI/2
        angle_increment: 0.004363 # M_PI/360.0
        scan_time: 0.1
        range_min: -5.0
        range_max: 25.0
        use_inf: true
        inf_epsilon: 1.0

        # Concurrency level, affects number of pointclouds queued for processing and number of threads used
        # 0 : Detect number of cores
        # 1 : Single threaded
        # 2->inf : Parallelism level
        concurrency_level: 1


<node pkg="tf" type="static_transform_publisher" name="odom_to_base_link"
args="0.0 0.0 0.0 0.0 0.0 0.0 odom base_link  100" />

 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
<remap from="scan" to= "/scan"/>   <!--topic-->
<remap from="odom" to= "/odom"/>
<param name="map_udpate_interval" value="0.25"/>
<param name="maxUrange" value="80.0"/>
<param name="sigma" value="0.1"/>
<param name="kernelSize" value="1"/>
<param name="lstep" value="0.15"/>
<param name="astep" value="0.15"/>
<param name="iterations" value="1"/>
<param name="lsigma" value="0.1"/>
<param name="ogain" value="3.0"/>
<param name="lskip" value="1"/>
<param name="srr" value="0.1"/>
<param name="srt" value="0.2"/>
<param name="str" value="0.1"/>
<param name="stt" value="0.2"/>
<param name="linearUpdate" value="0.5"/>
<param name="angularUpdate" value="0.25"/>
<param name="temporalUpdate" value="-1.0"/>
<param name="resampleThreshold" value="0.5"/>
<param name="particles" value="50"/>
<param name="xmin" value="-100.0"/>
<param name="ymin" value="-100.0"/>
<param name="xmax" value="100.0"/>
<param name="ymax" value="100.0"/>
<param name="delta" value="0.05"/>
<param name="llsamplerange" value="0.01"/>
<param name="llsamplestep" value="0.05"/>
<param name="lasamplerange" value="0.05"/>
<param name="lasamplestep" value="0.05"/>
<param name="maxrange" value="0.5"/>


TF Tree:

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How are you launching these? I suspect your transforms are incorrect.

allenh1 gravatar image allenh1  ( 2021-01-21 18:12:42 -0600 )edit

I add my launch file and tf tree @allenh1

Fawkess14 gravatar image Fawkess14  ( 2021-01-22 04:07:51 -0600 )edit