Localization issue using gmapping and odom data.

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Hi all,

I do have a problem with my localization! I use gmapping to build a map and to determine the robots position. Apparently my map (base_frame: /map) and my costmap (base_frame: /odom) do not correlate. Unforeseeable jumps appear. As soon as new space is explored, the map is not really extended, but the robot is shifted to the opposite direction. After a while, the robots position is redetermined and the costmap is shifted back to its "real" position. This seems to be weird and mess up my map. Additionally my robots position is also not correct which is a problem for further processing!

as you see in the screenshot ... mapping works fine and also the costmap was right. Then the robot rotates and as soon as new space (beneath the robot) is explored, the costmap makes a jump to the top!! Instead of expanding the underlying map, the costmap is shifted and the robots position is wrongly determined!! The real Position is close to the "/map" tf (same offset as robot to "/odom" tf).

Here is my tf tree:

Accuracy of my odom data seem to bee right ...

Here is a link to a video showing the problem. Hopefully this helps to understand the problem which appears. It can be seen that no /odom /map problems appear as long as the robot moves to the front or backwards, but immediately when it starts to rotate, the mapping gets screwed up and "/map" and "/odom" differ.

https://www.dropbox.com/s/v4y6i7s5l0jhy7r/mapping.mpeg

Here is my gmapping.launch file:

<launch> <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">

  <param name="base_frame" value="base_footprint"/>
  <param name="map_frame" value="map"/>
  <param name="odom_frame" value="odom"/>
  <param name="map_update_interval" value="0.1"/>
  <param name="maxUrange" value="4.0"/>
  <param name="maxRange" value="5.0"/>
  <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="srr" value="0.01"/>
  <param name="srt" value="0.02"/>
  <param name="str" value="0.01"/>
  <param name="stt" value="0.02"/>
  <param name="linearUpdate" value="0.01"/>
  <param name="angularUpdate" value="0.01"/>
  <param name="temporalUpdate" value="0.1"/>
  <param name="resampleThreshold" value="0.5"/>
  <param name="particles" value="1"/>

  <param name="xmin" value="-5.0"/>
  <param name="ymin" value="-5.0"/>
  <param name="xmax" value="5.0"/>
  <param name="ymax" value="5.0"/>
  <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>

</launch>

FYI, I do not face processing problems due to high update rates. I just want the map to be updated continuously. CPU load is at 60% when running all nodes.

Has anyone experienced some similar problems?

BR Daniel