DepthImage_to_laserscan+Kinect+ gmapping map unstable

asked 2022-09-02 08:47:39 -0500

iimata gravatar image

updated 2022-09-02 08:51:46 -0500

im using kinect camera with DepthImage_to_laserscan

im actually stuck in this problem for a long days and i cannot solve it (i tried with slam_toolbox and still the same issue, maybe the depth to laser do this problems but i cant configur it )

i found this previous question with the same error

yo can see the video here any suggestions ?

<arg name="scan_topic" default="depth_scan" />

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="base_frame" value="base_footprint"/>
    <param name="odom_frame" value="odom_combined"/>
    <param name="map_update_interval" value="0.20"/>
    <param name="maxUrange" value="4.5"/>
    <param name="maxRange" value="5.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="10"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="100"/>
    <param name="srr" value="0.01"/>
    <param name="srt" value="0.02"/>
    <param name="str" value="0.01"/>
    <param name="stt" value="0.02"/>
    <param name="linearUpdate" value="0.3"/>
    <param name="angularUpdate" value="0.5"/>
    <param name="temporalUpdate" value="2.0"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="100"/>
    <param name="xmin" value="-10.0"/>
    <param name="ymin" value="-10.0"/>
    <param name="xmax" value="10.0"/>
    <param name="ymax" value="10.0"/>

    <param name="delta" value="0.25"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
    <remap from="scan" to="$(arg scan_topic)"/>

depth to laser launch file


<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
    <param name="scan_height" value="3"/>
    <param name="range_min" value="0.45"/>
    <param name="range_max" value="8.0"/>
    <param name="output_frame_id" value="camera_depth_frame"/>
    <remap from="image" to="/camera/depth/image_raw"/>
    <remap from="scan" to="depth_scan"/>
    <remap from="camera_info" to="/camera/depth/camera_info"/>

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