Gmapping Affecting my odometry
Hello all,
In my project I am trying to build a map using:
- Realsense T265: to provide robot odometry
- Kinect V1: to provide the laserscan
The odometry provided by the Realsense T265 is pretty accurate, however when gmapping starts building the map the odometry suddenly drifts a lot, although the camera was not moving when the drift occurred, which causes bad laserscan transformation and bad mapping result.
Note:
I tried the default gmapping params but gave me same bad results.
I am only using for the odometry the Realsense T265
Usually this means that your odometry is not very accurate. How do you provide the odometry with the realsense? By using a node like laser_scan_matcher? Then you probably have a problem with rotation, please try the tests from Basic Navigation Tuning Guide 1.2 Odometry.
The realsense node publishes odometry data, already built in the realsense 2 package. If I run the odometry alone without the Gmapping I get great results. However when I run it with the Gmapping node, sometimes the odometry drifts with no reason.