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2017-01-17 02:58:05 -0500	asked a question	Adding covariance to simulated odometry Hi all, I'm coding up this tutorial on odometry with a simulated custom robot. As part of it, I have been requested to include covariance in the published Odom values. Can anyone describe to me what is the most straightforward way I can introduce this covariance? Clarification: I am not asking about including the covariance in the rosmsg, but generating a simulated covariance.
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2016-12-12 01:40:27 -0500	asked a question	Issue with HectorSLAM in Indigo with SICK scanner. Hello all, I was asked to look into applying hectorSLAM to a dataset consisting of two scanners. One scanner is a Hokuyo UTM-30LX-EW, chopped down to a 180FOV, with ~720 samples. Second scanner is a SICK S30A-7011DA, with a 180FOV, with 760 samples. I'm using HectorSLAM in Indigo. When I apply HectorSLAM to the same dataset, but with different scanners, a great crisp result is given for the Hokuyo. I've uploaded to imgur since I don't have enough points to post the map. https://i.imgur.com/PLpYhRY.jpg When applying the same configuration, but with the SICK, I get a mess. https://i.imgur.com/eaAy9xN.jpg Can anyone give me a reason for this?
2016-11-24 02:24:06 -0500	asked a question	How to compare two .pgm maps? I have been testing a number of SLAM implementations in a simple stageros arena. I would like to compare the maps generated from each of the algorithms to the arena map. I want to be able to quantify each so I can compare results. What is a good way of doing this? KNN? What are the best metrics?