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Turtlebot tune gmapping

asked 2013-08-27 06:08:18 -0500

pkohout gravatar image


we are using the turtlebot with a kinect and gmapping. But sometimes it do not updates the map (but the localcostmap and the laser see the walls and obstacles) but the Occupancy grid do not gets update.

How can we tune gmapping to improve the performance ?

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answered 2013-08-30 17:32:57 -0500

jorge gravatar image

Check also the map_update_interval parameter. I recently notice that it was set to 30 in turtlebot, what means only update every 30 seconds!!! The default value is 5 seconds.

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answered 2013-08-27 06:26:18 -0500

dornhege gravatar image

Is this only for smaller movements? The linear_update and angular_update determine when gmapping will perform an update.

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It is also for larger movements, but sometimes it works later again. So i am at the left of a room, and the robot do not creates the map, then i move to the right, and there the OccupancyGrid gets updateded

pkohout gravatar image pkohout  ( 2013-08-27 18:52:53 -0500 )edit

How fast does this happen? gmapping won't spit out maps in real-time, but it should give a new one every couple of seconds or so. If that doesn't happen, check gmapping output if it's doing something.

dornhege gravatar image dornhege  ( 2013-08-28 00:19:17 -0500 )edit

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Asked: 2013-08-27 06:08:18 -0500

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Last updated: Aug 30 '13