Ricardo,

Please don't send your question more than once.

See http://www.ros.org/wiki/Support#Guidelines_for_asking_a_question_.28Please_read_before_posting.29 . In particular:

"Please don't send your question more than once: The question was seen. If you didn't get a response then likely nobody has had time to answer you. Alternatively, it could be that nobody knows the answer. In any case, sending it again is poor form and akin to shouting and is likely to aggravate a large number of people. This also applies to crossposting. Try to pick the forum which you think matches best and ask there. If you are referred to a new forum, provide a link to the old discussion."

Also, you have stated that you are "attaching a bagfile" to the message, but none has come through (likely due to being too large for the mailing list). In any case, as I mentioned in my response to your first email to ros-users (under a slightly different subject line), you should ask this on answers.ros.org as that is the proper support forum.

- Eric

On Mon, Nov 14, 2011 at 11:56 AM, Ricardo Campos <ricardo_campos_vsc@hotmail.com> wrote:


Hi,

I'm using gmapping to create maps. But, it returns a lot of messages saying "Scan Matching Failed, using odometry" and the resulting map has several overlapped maps.

In rviz the laser values seem to be correct. When  I run the rostopic command to see the behavior of base_scan (laser) and odom (odometry) topics, it is possible to verify that the values are correctly published on ROS.

. I'm using these parameters in my code for the values on LaserScan:


scan.angle_min = -1.57;

scan.angle_max = 1.57;

scan.angle_increment = 3.14 / num_readings;

scan.time_increment = (1 / laser_frequency) / (num_readings);

scan.range_min = 0.0;

scan.range_max = 80.0;


Someone can help me ? Together with this message I attach the resulting .yaml file and the .bag file.

NOTE: Below is presented part of the resulting command line with the error:


 -maxUrange 79.99 -maxUrange 79.99 -sigma     0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
 -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
 -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
 -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
[ INFO] [1321129265.860843005]: Initialization complete
update frame 0
update ld=0 ad=0
Laser Pose= 15 1 1.57733
m_count 0
Registering First Scan
update frame 246
update ld=1.00164 ad=0
Laser Pose= 13.9984 0.993456 1.57733
m_count 1
Scan Matching Failed, using odometry. Likelihood=3.10908e-305
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200
lp:15 1 1.57733
op:13.9984 0.993456 1.57733
Scan Matching Failed, using odometry. Likelihood=-1200



Thanks

_______________________________________________
ros-users mailing list
ros-users@code.ros.org
https://code.ros.org/mailman/listinfo/ros-users