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gmapping and navigation beyond range of LIDAR sensor

asked 2013-07-09 09:55:49 -0500

patrick_hammer gravatar image

updated 2014-01-28 17:17:11 -0500

ngrennan gravatar image

I am trying to use gmapping and the navigation stack to navigate around a large mostly empty room. I have two problems:

  1. When building my map free areas are only mapped between the robot and obstacles. This leaves the center of the room unmapped. Later the navigation stack tries to navigate around the completely empty center of the room. How do I map the empty space where my Lidar returns inf?
  2. I'm worried that while I'm driving through the middle of the room, because I'm essentially dead reckoning, errors will propagate and I will loose a decent position estimate by amcl. Is my only solution to get a sensor with more range?

Cheers!

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answered 2013-07-09 12:03:21 -0500

lindzey gravatar image

updated 2013-07-09 12:04:12 -0500

#1: From the documentation about gmapping parameters:

~maxRange (float)

The maximum range of the sensor. If regions with no obstacles within the range of the sensor should appear as free space in the map, set maxUrange < maximum range of the real sensor <= maxRange.

#2: I haven't played with amcl/gmapping very much, but isn't that the desired behavior? You should be able to tweak parameters such that the estimated error matches how good your robot's odometry (and/or inertial sensor) is, but when moving in the absence of sensor data, your pose estimate should degrade.

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answered 2013-07-10 07:41:54 -0500

The practical solution to 1. would be to just open the map file you saved using the map_saver with some graphics program and manually mark the portions you know to be free as such by "painting" them into the map. If you use AMCL and thus a static map you have to only do that once.

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Asked: 2013-07-09 09:55:49 -0500

Seen: 463 times

Last updated: Jul 10 '13