Laser scan matcher causes Laser Scan errrors (SLAM) [closed]

asked 2012-12-15 08:09:57 -0500

Jonathan Kobayashi gravatar image

updated 2014-01-28 17:14:35 -0500

ngrennan gravatar image

I am currently trying out different SLAM methods with a single Hokuyo UTM30-LX laser scanner. I got hector_slam to work pretty smoothly, but I am having problems with the laser_scan_matcher + gmapping method.

The laser_scan_matcher seems to cause the Laser Scan display in Rviz to show the status as "Error" every few seconds. It seems to be able to come up with a pose okay, but when I hook it up to gmapping (map > odom > base_link > laser), the map comes out weird. Things seem to be shifted.

*I would post pictures of the maps but my Karma is too low.

laser_scan_matcher + gmapping sorta work well in a small room, but maybe the long hallways are confusing it (maybe the far wall is out of range of the sensor)

Does anyone else have this problem? Are there limitations of laser_scan_matcher + gmapping that I'm not aware of? Any help would be much appreciated.

Thank you, Jonathan K.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-09-18 19:03:21.281101

Comments

is your odometry data correct ?

cagatay gravatar image cagatay  ( 2012-12-15 08:11:13 -0500 )edit

are you working on a real robot or simulation?

georgebrindeiro gravatar image georgebrindeiro  ( 2012-12-15 08:52:29 -0500 )edit

What is your tf tree? What provides which transform?

dornhege gravatar image dornhege  ( 2012-12-16 21:29:19 -0500 )edit

Seems like the GMAPPING has its own localization method . I think the problem is come from the odom . It might has been published by 2 modules(Gmapping + Laser Scan Matcher)

C3MX gravatar image C3MX  ( 2016-01-28 11:07:11 -0500 )edit