hi Ricardo, If you ask this question over at answers.ros.org, I'll try to help. brian. On Sat, Nov 12, 2011 at 12:50 PM, Ricardo Campos 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 > > -- http://brian.gerkey.org