Problem with gmapping

asked 2013-02-24 06:00:55 -0600

marwa
153 ●12 ●13 ●23

updated 2013-02-26 05:51:08 -0600

Hello,

I am trying to build map using gmapping and i have already built that map but it seems to be inaccurate because the irobot in map moves to forward and backward only ,but actually irobot has moved to right and left also and it dosen't appear in map

Can anyone tell me how to draw an accurate map?

thanks in advance

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Can you be more specific about what hardware you have, and how it's set up?

ahendrix ( 2013-02-25 20:44:10 -0600 )edit

i am using irobot create with kinect

marwa ( 2013-02-25 22:30:14 -0600 )edit

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answered 2013-02-26 05:52:43 -0600

dornhege

31395 ●134 ●284 ●498

Check this: http://www.ros.org/wiki/navigation/Tutorials/Navigation%20Tuning%20Guide Especially 2.2 and report results.

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answered 2013-09-26 12:27:12 -0600

sudhanshu_mittal

311 ●4 ●9 ●9

updated 2013-09-26 12:27:58 -0600

To improve your result's accuracy change the following parameters in gmapping launch file

1.Increase your laser range i.e. the parameter value "maxURange" 2.Increase your particle throttling frequency i.e. parameter value of "particles" from default 80 to around 120. 3.Reduce the parameter values of "linearUpdate" and "angularUpdate".

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hi Sudhanshu, can you please tell me what's the unit of "maxURange", "linearUpdate" and "angularUpdate". Can you explan briefly what will happen if i put 100 as "linearUpdate". thanks

cognitiveRobot ( 2013-11-11 14:38:40 -0600 )edit

http://wiki.ros.org/gmapping