>From what gmapping is telling you, it would seem that something is wrong with the odometry data. Can you record a .bag file with /tf and /scan (or whatever your base laser's topic is), and post a link to the .bag? brian. On Mon, Aug 9, 2010 at 7:27 AM, safdar_zaman wrote: > > Hi, > I have made the map....but map is not fine I dont know why. The map formed > contains lot of small maps inside it. And gmapping gives following messages: > *********************************************************************** > ********** Error: m_distanceThresholdCheck overridden!!!! ************* > m_distanceThresholdCheck=20 > Old Odometry Pose= 44.6041 -1655.01 -2.5193 > New Odometry Pose (reported from observation)= -45.4415 -1712.42 -2.62894 > *********************************************************************** > ** The Odometry has a big jump here. This is probably a bug in the   ** > ** odometry/laser input. We continue now, but the result is probably ** > ** crap or can lead to a core dump since the map doesn't fit.... C&G ** > *********************************************************************** > update frame 590 > update ld=106.791 ad=0.10964 > Laser Pose= -45.4415 -1712.42 -2.62894 > m_count 24 > Scan Matching Failed, using odometry. Likelihood=-4.02852e-44 > lp:44.6041 -1655.01 -2.5193 > op:-45.4415 -1712.42 -2.62894 > Scan Matching Failed, using odometry. Likelihood=-2360 > .... > Scan Matching Failed, using odometry. Likelihood=-2360 > lp:44.6041 -1655.01 -2.5193 > op:-45.4415 -1712.42 -2.62894 > Average Scan Matching Score=0.629174 > neff= 23.179 > Registering Scans:Done > *********************************************************************** > ********** Error: m_distanceThresholdCheck overridden!!!! ************* > m_distanceThresholdCheck=20 > Old Odometry Pose= -45.4415 -1712.42 -2.62894 > New Odometry Pose (reported from observation)= -1497.98 -671.292 1.38723 > *********************************************************************** > ** The Odometry has a big jump here. This is probably a bug in the   ** > ** odometry/laser input. We continue now, but the result is probably ** > ** crap or can lead to a core dump since the map doesn't fit.... C&G ** > *********************************************************************** > update frame 591 > update ld=1787.12 ad=2.26701 > Laser Pose= -1497.98 -671.292 1.38723 > m_count 25 > Scan Matching Failed, using odometry. Likelihood=-4.02852e-44 > lp:-45.4415 -1712.42 -2.62894 > op:-1497.98 -671.292 1.38723 > Scan Matching Failed, using odometry. Likelihood=-2273.33 > ..... > Scan Matching Failed, using odometry. Likelihood=-2273.33 > lp:-45.4415 -1712.42 -2.62894 > op:-1497.98 -671.292 1.38723 > Average Scan Matching Score=0 > neff= 23.179 > Registering Scans:Done > *********************************************************************** > ********** Error: m_distanceThresholdCheck overridden!!!! ************* > m_distanceThresholdCheck=20 > Old Odometry Pose= -1497.98 -671.292 1.38723 > New Odometry Pose (reported from observation)= -1437.41 -468.525 1.17167 > *********************************************************************** > ** The Odometry has a big jump here. This is probably a bug in the   ** > ** odometry/laser input. We continue now, but the result is probably ** > ** crap or can lead to a core dump since the map doesn't fit.... C&G ** > *********************************************************************** > update frame 592 > update ld=211.619 ad=0.215566 > Laser Pose= -1437.41 -468.525 1.17167 > m_count 26 > Scan Matching Failed, using odometry. Likelihood=-4.02852e-44 > lp:-1497.98 -671.292 1.38723 > op:-1437.41 -468.525 1.17167 > Scan Matching Failed, using odometry. Likelihood=-2180 > ..... > Scan Matching Failed, using odometry. Likelihood=-2180 > lp:-1497.98 -671.292 1.38723 > op:-1437.41 -468.525 1.17167 > Average Scan Matching Score=0 > neff= 23.179 > Registering Scans:Done > *********************************************************************** > ********** Error: m_distanceThresholdCheck overridden!!!! ************* > m_distanceThresholdCheck=20 > Old Odometry Pose= -1437.41 -468.525 1.17167 > New Odometry Pose (reported from observation)= -1267.63 -198.425 0.847847 > *********************************************************************** > ** The Odometry has a big jump here. This is probably a bug in the   ** > ** odometry/laser input. We continue now, but the result is probably ** > ** crap or can lead to a core dump since the map doesn't fit.... C&G ** > *********************************************************************** > update frame 593 > update ld=319.028 ad=0.323822 > Laser Pose= -1267.63 -198.425 0.847847 > m_count 27 > Scan Matching Failed, using odometry. Likelihood=-4.02852e-44 > lp:-1437.41 -468.525 1.17167 > op:-1267.63 -198.425 0.847847 > Scan Matching Failed, using odometry. Likelihood=-2073.33 > lp:-1437.41 -468.525 1.17167 > op:-1267.63 -198.425 0.847847 > Scan Matching Failed, using odometry. Likelihood=-2073.33 > .... > > > ANY IDEA PLEASE? > regards > > -- > View this message in context: http://ros-users.122217.n3.nabble.com/Grig-Map-using-Poineer-Robot-tp1015870p1056257.html > Sent from the ROS-Users mailing list archive at Nabble.com. > > ------------------------------------------------------------------------------ > This SF.net email is sponsored by > > Make an app they can't live without > Enter the BlackBerry Developer Challenge > http://p.sf.net/sfu/RIM-dev2dev > _______________________________________________ > ros-users mailing list > ros-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/ros-users > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >