Hi Brian, I can't post my message at answers.ros.org. Thanks > Date: Mon, 14 Nov 2011 17:31:45 -0800 > From: gerkey@willowgarage.com > To: ros-users@code.ros.org > Subject: Re: [ros-users] gmapping: Scan Matching Failed, using odometry > > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users