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nav2d_karto mapper accuracy compared to gmapping


I have successfully implemented tutorial 3 on my turtlebot. My only problem is the accuracy of the generated map using nav2d mapper. You can find below a comparison between a map generated by gmapping node and mapper node.

my setup is a Turtlebot with Asus Xtion Pro.

Nav2d Mapper

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as you can see, the map of nav2d is distorted. how can i resolve this problem ? since i need nav2d mapper for multi mapping.

Thank you in advance,