slam in gmapping auto turnaround
I make a experiment as follow.
1、the robot is static.
2、provide corridor laser information like this:
3、suppose the robot move 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!
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