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2020-03-27 00:42:34 -0500 edited question MoveIt: Gazebo-in-loop OMPL planner benchmarking

MoveIt: Gazebo-in-loop benchmarking Hi all, i used the benchmarking tool of MoveIt to evaluate the performance of the pl

2020-03-27 00:34:13 -0500 asked a question MoveIt: Gazebo-in-loop OMPL planner benchmarking

MoveIt: Gazebo-in-loop benchmarking Hi all, i used the benchmarking tool of MoveIt to evaluate the performance of the pl

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2015-09-08 04:20:05 -0500 commented answer Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

i doubt that there is particle filter is still running, maybe from SLAMs itself, because there are parametes in the mapper.yaml with regard to localization & changing the values of min_particles & max_particles changes the map quality as mentioned in the first post.

2015-09-08 04:11:24 -0500 commented answer Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

Would you please tell me how i could verify the odom output? Thanks a lot for taking time & helping me out.

2015-09-08 04:10:11 -0500 commented answer Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

The tf tree looks good, with one single connected tree. map(/mapper)->offset(mapper)->odom_fused(robot_pose_ekf)->base_footprint(robot_state_publisher) etc. The topic /odom is subsribed by robot_pose_ekf & mobile_base_nodelet_manager. /robot_pose_ekf.odom_combined is not subscribed by any one.

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2015-09-08 03:46:18 -0500 commented answer Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

i cross checked the launch files and tutorial 2 & tutorial 3 of nav 2d. i am following tutorial 3, which does not have the selflocalization node. i suspect the shift in map while mapping is caused by SLAM itself. Is my understanding correct? is there a way to fine tune it to have a good map?

2015-09-08 03:01:42 -0500 commented answer Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

I did not find the localizer node seperately in the launch file of nav2d. there are nodes for mapper "<node name="Mapper" pkg="nav2d_karto" type="mapper">", GetMap, Explore, SetGoal & operator but not for localization. I am new to ROS so I would appreciate if you could give me details. Thank you,

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2015-09-07 11:35:49 -0500 asked a question Localiztion in Nav2d is very poor on Turtlebot 2 with default configuration

Dear all,

I am running the nav2d tutorial 3 on the turtlebot with Kinect sensor. the working is fine except for the localization.

the robot keeps on localizing and every time the map is shifted little. due to this the same obstacles are mapped several times which results in a map full of black spots making it unnavigable.

I suspected error in odom so i combined Robot_Pose_Ekf but the output robot_pose_ekf/odom_combined is not used by any of the nodes! The tf frame is being published for the odom by the robot_pose_ekf.

I tried changing the min_particle & max_particle sizes with a lot of values, its little better with values 1000000 & 4000000 but not satisfatory. Any bigger value makes the system very slow.

Would you please help in finetunning the parameters to have a good map. Thanks in advance:)