Jumpy robot model in RViz with gmapping and Fuerte [closed]

asked 2013-06-07 07:33:20 -0600

Zayin gravatar image

updated 2014-01-28 17:16:48 -0600

ngrennan gravatar image

I'm attempting to map a room with the gmapping demo for the Turtlebot and I'm operating the robot with the keyboard. I have calibrated the robot's gyro and odometer appropriately. However, the map produced in RViz is not very accurate and the robot model keeps jumping/teleporting when the real robot is moving. In fact, the model reproduces the real robot's movements, but also jumps here and there regularly. I suppose that might explain the inaccuracy of the map. Is there any way I could fix this?

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Closed for the following reason duplicate question by tfoote
close date 2015-05-29 13:13:20.283676

Comments

jorge gravatar imagejorge ( 2013-06-09 14:48:04 -0600 )edit

It might be related, I'm not certain. Well first, I'm using Fuerte with a Kinect, which might make a difference. Also, I don't know if my robot is jumping like the one in your video because my fixed frame is /map, so it just looks different. I'll have to run further experiments.

Zayin gravatar imageZayin ( 2013-06-10 04:48:37 -0600 )edit

I've set the fixed frame as /Odom, but the model didn't jump around like in your video. It seems having the fixed frame at /Map causes the problem (and only the robot jumps, not the map). However, I have recalibrated the robot and the map is now much better.

Zayin gravatar imageZayin ( 2013-06-10 10:16:55 -0600 )edit

I have updated the question 64308 with some experimenting results. Not sure if it can help you, but...

jorge gravatar imagejorge ( 2013-06-10 21:35:32 -0600 )edit

Thanks! I'll have a look at it!

Zayin gravatar imageZayin ( 2013-06-11 04:39:20 -0600 )edit