Revision history [back]

From the video the fault definitely looks like a SLAM issue. It appears as soon as just a flat wall is visible in the simulated LIDAR scan (with no corner, which previously served to make the match non-ambiguous) the scanmatcher provides wrong matches. I thought this really shouldn´t happen, as gmapping should rely on odometry in cases like this. There appears to be no parameter that allows you to tell the system "trust odometry more" directly, as this probably is easier thought of than done. Editing your original question and providing the config you use for gmapping might help people to make an educated guess on what parameters you could tweak, however.