laser_assembler cloud inaccuracy
I've tried to use the laser assembler to create a cloud, however the floors and the floor from the cloud isn't flat. Its more wavey than anything else.
http://i.imgur.com/PYAtWTul.png
The servo is moving at 110degs/sec and I'm using the periodic snapshotter to publish the pointcloud every second. I publish the transform of the servo and with the /scans, I send it to the laser_assembler.
I'm also unsure where to measure the servo rotation axis to the hokuyo utm-30lx, since I don't know exactly where the laser projects, it was a rough estimate.
What could be the main cause of the problem?
Thank you!
Edit1: Instead of it being wavey, after closer inspection the point cloud is seeing double, such that there is a zone where two table tops would be shown.
Edit2: The picture as a whole seems to look better as a whole if I don't overlap the scans over a period of time.
I'm going to make clouds of when the laser scan makes one sweep from top to bottom and a sweep going from bottom to top.
