Gmapping a problem with gates on the map

asked 2021-04-15 14:45:07 -0600

hoverboards gravatar image

updated 2021-05-05 20:45:35 -0600

I am using gmapping ros package and my lidar is rplidar S1. On the map, doors seem 8-10 cm narrower than expected in some cases. (I'm not testing on the black door surface.) I get different results each time. In some cases, the door dimensions look correct. I could not understand what it was changing depending on. What would be the reason.

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Have you checked if your robot odometry and the tf correctly setup?

turtleMaster20 gravatar image turtleMaster20  ( 2021-05-06 02:04:30 -0600 )edit

Thanks your answer. I still have the same problem when I reduce the effect of odometry. Yes there is no problem with TF s.

hoverboards gravatar image hoverboards  ( 2021-05-10 07:28:25 -0600 )edit

If you have already calibrated your odometric sensors and we assume that the error in odometry is only due to slippage and the stacking of the error over time, this error must be compensated by gmapping. (Then maybe this is not the cause of your error).

Check the accuracy of the lidar sensor, could be this is the issue.

Alternatively you can use cartographer, if the problem persists then we can say the problem is not with gmapping itself.

turtleMaster20 gravatar image turtleMaster20  ( 2021-05-12 04:27:00 -0600 )edit