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gmapping with odom from laser_scan_matcher

asked 2012-10-10 02:15:26 -0500

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Hi,

i tried to use laser_scan_matcher to simulate a odometry. I used the pose2d and the iri_msg_to_odom to create this. It seems to work. Now i want gmapping to subscribe this odometry and i used static_transform_publisher for odom -> base_link and base_link -> laser. But now gmapping told me this:

***RESAMPLE**** Deleting Nodes: 0 1 2 3 4 5 6 8 9 10 11 12 14 15 16 17 18 19 20 21 22 23 24 26 27 28 29 31 32 33 35 36 37 38 39 40 41 43 44 45 46 47 49 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 1743 update ld=2 ad=0 Laser Pose= 1 0 0 m_count 4 Scan Matching Failed, using odometry. Likelihood=-1793.34 lp:-1 0 0 op:1 0 0 Scan Matching Failed, using odometry. Likelihood=-1806.67 lp:-1 0 0 op:1 0 0 Scan Matching Failed, using odometry. Likelihood=-1586.92 lp:-1 0 0 op:1 0 0 Average Scan Matching Score=41.0745 neff= 26.2824 Registering Scans:Done update frame 2180 update ld=2 ad=0 Laser Pose= -1 0 0 m_count 5 Scan Matching Failed, using odometry. Likelihood=-1600.2 lp:1 0 0 op:-1 0 0 Average Scan Matching Score=51.2145 neff= 1.01368 ***RESAMPLE*** Deleting Nodes: 0 1 2 3 4 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 Done Deleting old particles...Done Copying Particles and Registering scans... Done update frame 2184 update ld=2 ad=0 Laser Pose= 1 0 0 m_count 6 Average Scan Matching Score=83.3891 neff= 2.09414 ***RESAMPLE**** Deleting Nodes: 0 1 2 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 31 32 33 34 36 37 38 40 41 42 43 44 45 46 47 48 49 Done Deleting old particles...Done Copying Particles and Registering scans... Done
if i change tf_publisher to base_link -> odom it seems to work but sometimes every few seconds or so the error comes again. And the map doesn't really looks fine in rviz.

Whats wrong? :)

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Are you really using a static_transform_publisher for odom -> base_link? This should be a dynamic transform, published by your laser_scan_matcher. Its not that important, if this odometry is a bit poor, but it should be continuos during the entire run (e.g. no big jumps).

Ben_S gravatar image Ben_S  ( 2012-10-10 02:36:14 -0500 )edit

how stupid :( Of course.... Thx

darkchris90 gravatar image darkchris90  ( 2012-10-10 02:39:47 -0500 )edit

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answered 2012-10-10 02:36:37 -0500

Lorenz gravatar image

You cannot use a static_transform_publisher for the transform odom -> base_link. This transform must be generated by laser_scan_matcher. Just change the parameter fixed_frame from world to odom in laser_scan_matcher to achieve that.

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Asked: 2012-10-10 02:15:26 -0500

Seen: 1,016 times

Last updated: Oct 10 '12