hector_mapping stage simulation

edit

Hello,

I'm trying to implement a small simulation of hector_mapping package using stage on Ubuntu 11.10 with ROS Fuerte. I changed the launch file within this package in order to be compatible with stage.

Original Launch file:

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_footprint"/>
  <arg name="odom_frame" default="nav"/>
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="scan"/>
  <arg name="map_size" default="2048"/>

Modified Launch file:

  <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
  <arg name="base_frame" default="base_link"/> <!-- /base_footprint to /base_link -->
  <arg name="odom_frame" default="odom"/> <!-- /nav to /odom -->
  <arg name="pub_map_odom_transform" default="true"/>
  <arg name="scan_subscriber_queue_size" default="5"/>
  <arg name="scan_topic" default="base_scan"/> <!-- /scan to /base_scan -->
  <arg name="map_size" default="2048"/>

However, the results aren't the best. It seems that the robot loses its location and the map is built incorrectly. I would expect the map to be almost perfect, since I am using Stage's built-in odometry. The results can be seen here in this video:

youtube [.dot] com [dash] watch?v=ghQpwf5gYY4 (Sorry I haven't got enough karma to post a video)

In the beginning you can see how I am running the system; and by 3m45s you can see how the map is incorrectly alligned.

Please, can someone help me out? If anything else is needed, I will gladly post it later.

Thanks in advance :)