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GMapping Help [closed]

asked 2012-07-12 07:56:33 -0500

allenh1 gravatar image

I am having some problems with GMapping still. This is what troubles me:

Average Scan Matching Score=96.0017
neff= 60.0443
Registering Scans:Done
update frame 2271
update ld=0.125873 ad=0
Laser Pose= 5.298 -19.134 2.35619
m_count 486
Average Scan Matching Score=110.042
neff= 57.6803
Registering Scans:Done
update frame 2277
update ld=0.124461 ad=0
Laser Pose= 5.211 -19.045 2.35619
m_count 487
Average Scan Matching Score=117.979
neff= 57.6981
Registering Scans:Done
update frame 2278
update ld=0.175385 ad=0
Laser Pose= 5.089 -18.919 2.35619
m_count 488
Average Scan Matching Score=110.171
neff= 58.2816
Registering Scans:Done
update frame 2279
update ld=0.100419 ad=0
Laser Pose= 5.019 -18.847 2.35619
m_count 489
Average Scan Matching Score=112.308
neff= 59.5087
Registering Scans:Done
update frame 2280
update ld=0.123762 ad=0
Laser Pose= 4.933 -18.758 2.35619
m_count 490
Average Scan Matching Score=108.148
neff= 59.8912
Registering Scans:Done
update frame 2281
update ld=0.151327 ad=0
Laser Pose= 4.827 -18.65 2.35619
m_count 491
Average Scan Matching Score=110.582
neff= 59.5589
Registering Scans:Done
update frame 2282
update ld=0.123069 ad=0.0174533
Laser Pose= 4.742 -18.561 2.33874
m_count 492
Average Scan Matching Score=114.415
neff= 59.8217
Registering Scans:Done
update frame 2283
update ld=0.125176 ad=0.0174533
Laser Pose= 4.655 -18.471 2.35619
m_count 493
Average Scan Matching Score=111.523
neff= 58.9486
Registering Scans:Done
update frame 2284
update ld=0.123045 ad=0
Laser Pose= 4.569 -18.383 2.35619
m_count 494
Average Scan Matching Score=105.843
neff= 58.7735
Registering Scans:Done
update frame 2285
update ld=0.125176 ad=0.0174533
Laser Pose= 4.482 -18.293 2.33874
m_count 495
Average Scan Matching Score=97.8416
neff= 57.3405
Registering Scans:Done
update frame 2286
update ld=0.124459 ad=0
Laser Pose= 4.395 -18.204 2.33874

As is visible, the score isn't terrible and it is updating the robot's position. What is causing it from updating the map? I don't understand why I'm not getting an updated map as it runs.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-12-29 14:09:52

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answered 2012-07-12 08:02:22 -0500

cagatay gravatar image

updated 2012-07-12 08:02:46 -0500

hello i think that your gmapping launch file has something like that

<param name="map_update_interval" value="30.0"/>

you may decrease your value, then map update will be quicker like setting it to 3.0 or 5.0. but when you do that you may get more errors ( black dots where they don't belong in the map )

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No... Unfortunately, that's not it. The map isn't updating at all. I see it update once (first scan), but not again after. I set that interval to 1.0.

allenh1 gravatar imageallenh1 ( 2012-07-12 08:11:55 -0500 )edit

did you try to change linearUpdate and angularUpdate parameters

cagatay gravatar imagecagatay ( 2012-07-12 08:14:20 -0500 )edit

Yes. They are both set to 0.1

allenh1 gravatar imageallenh1 ( 2012-07-12 08:17:07 -0500 )edit

is there another stuff that may help us to determine what is going wrong ? warnings or something else such as your launch files etc..

cagatay gravatar imagecagatay ( 2012-07-12 08:25:31 -0500 )edit

No launch file. It's running with simulated data. No warnings.

allenh1 gravatar imageallenh1 ( 2012-07-12 08:27:34 -0500 )edit

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Asked: 2012-07-12 07:56:33 -0500

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Last updated: Jul 12 '12