Ricardo,

Could you please ask this on answers.ros.org and reply here with the link?
ROS Answers is the proper place for question and answer type things so that
it will be easier for future users with a similar problem to find a helpful
answer. See http://www.ros.org/wiki/Support for guidelines.

When you do post this on ROS Answers, please include a bagfile that can be
used to reproduce the problem - without seeing what your range data and
odometry looks like, it is entirely possible that you will get overlapping
maps.

- Eric

On Thu, Nov 10, 2011 at 11:16 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.
>
> I'm using these parameters values on LaserScan:
>
> scan.angle_min = 0;
> scan.angle_max = 3.14;
> 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 ?
>
> Thanks
>
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