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I make a experiment as follow.

1. the robot is static.
2. provide corridor laser information like this:
3. suppose the robot move follow x-axis from (0, 0) as a speed 0.1m/s, and provide the odom data to simulate the process. In this case, the direction of the robot is always 0.

However, the result is:

Unbelievable!

I make a experiment as follow.

1. the robot is static.
2. provide corridor laser information like this:
3. suppose the robot move follow x-axis from (0, 0) as a speed 0.1m/s, and provide the odom data to simulate the process. In this case, the direction of the robot is always 0.

However, the result is:

If the robot have enough time for running, the trajectory would be a circle. Unbelievable!

I make a experiment as follow.

1. the robot is static.
2. provide corridor laser information like this:
3. suppose the robot move follow x-axis from (0, 0) as a speed 0.1m/s, 0.2m/s, and provide the odom data to simulate the process. In this case, the direction of the robot is always 0.

However, the result is:

If the robot have enough time for running, the trajectory would be a circle. Unbelievable!

I make a experiment as follow.

1. the robot is static.
2. provide corridor laser information like this:
3. suppose the robot move follow x-axis from (0, 0) as a speed 0.2m/s, and provide the odom data to simulate the process. In this case, the direction of the robot is always 0.0 degree.

However, the result is:

If the robot have enough time for running, the trajectory would be a circle. Unbelievable!

I make a experiment as follow.

1. the robot is static.
2. provide corridor laser information like this:
3. suppose the robot move follow following x-axis from (0, 0) as a speed 0.2m/s, and provide the odom data to simulate the process. In this case, the direction of the robot is always 0 degree.

However, the result is:

If the robot have enough time for running, the trajectory would be a circle. Unbelievable!