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Thanks for the comment, billy. I think your suggestion is correct because at first after fresh installed (all parameters

Naviagtion local costmap doesn't align with static map Hi, I have been using turtlebot3 waffle pi and doing navigation i

Hi, I am quite new to gmapping and I am seeking some advice regarding the gmapping parameter. So, I did a gmapping and the result (the map) is not quite good enough. As you can see in the attachment, the map bends to the left where it supposes to be straight as the red line.

I teleop my turtlebot (waffle pi) to move forward (upward in the map) at 0.1 m/s. I did stop it and made it turn around several times. The room size is about 3 m wide and 35 m long. My gmapping parameter is as below.

 <!-- Gmapping -->
 <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
    <param name="base_frame" value="$(arg set_base_frame)"/>
    <param name="odom_frame" value="$(arg set_odom_frame)"/>
    <param name="map_frame"  value="$(arg set_map_frame)"/>
    <param name="map_update_interval" value="2.0"/>
    <param name="maxUrange" value="3.0"/>
    <param name="sigma" value="0.05"/>
    <param name="kernelSize" value="1"/>
    <param name="lstep" value="0.05"/>
    <param name="astep" value="0.05"/>
    <param name="iterations" value="5"/>
    <param name="lsigma" value="0.075"/>
    <param name="ogain" value="3.0"/>
    <param name="lskip" value="0"/>
    <param name="minimumScore" value="50"/>
    <param name="srr" value="0.1"/>
    <param name="srt" value="0.2"/>
    <param name="str" value="0.1"/>
    <param name="stt" value="0.2"/>
    <param name="linearUpdate" value="1.0"/>
    <param name="angularUpdate" value="0.2"/>
    <param name="temporalUpdate" value="0.5"/>
    <param name="resampleThreshold" value="0.5"/>
    <param name="particles" value="100"/>
    <param name="xmin" value="-10.0"/>
    <param name="ymin" value="-10.0"/>
    <param name="xmax" value="10.0"/>
    <param name="ymax" value="10.0"/>
    <param name="delta" value="0.05"/>
    <param name="llsamplerange" value="0.01"/>
    <param name="llsamplestep" value="0.01"/>
    <param name="lasamplerange" value="0.005"/>
    <param name="lasamplestep" value="0.005"/>
  </node>

I also checked the CPU usage, which is about 90% in total. So, I think map_update_interval is not a problem.

I know that the odometry isn't going to give the accurate pose or location, but can someone please tell me which parameter should I tune to get a better map? I read the ros programming book, but I still don't understand which parameters give the most impact on the result. I really appreciate some advice. Thanks!

Hi billy! Thank you for your answer. Your guess is right, my robot doesn't move straight when I tell it to go straight.

Turtlebot SLAM gmapping parameter Hi, I am quite new to gmapping and I am seeking some advice regarding the gmapping par

Record robot movement during navigation Hi, I have been working with gmapping, navigation and rviz. I want to ask if i

Thanks for your comment! I reported about the incorrect udev rules at the roomblock issue tracker. But I still think the

Roomblock fail to open port /dev/roomba due to failure in remapping roomba serial port Hi, I installed roomblock accord