Hi!<br><br>I have been trying to create a map from Sick lms200 laser scans using slam_gmapping node. However the laser scans overlap and I end up with an illegible map. My launch file looks like the following: <br><br>&lt;launch&gt;<br>



  &lt;master auto=&quot;start&quot;/&gt;<br>  &lt;!-- Static transform for base of scanner to robot base --&gt;<br>  &lt;node pkg=&quot;tf&quot; type=&quot;static_transform_publisher&quot; name=&quot;tf_static&quot; args=&quot;0.1 0 0.2 0 0 0 base_link base_scan 20&quot; /&gt;<br>



  <br>  &lt;!-- Sicktoolbox_wrapper node --&gt;<br>  &lt;node name=&quot;SickWrapper_client&quot; pkg=&quot;sscrovers_laser_pub&quot; type=&quot;sicklms2&quot; /&gt; <br>  <br>  &lt;!-- Modified version of ROSARIA client with a safe exit on interruption --&gt;<br>



  &lt;node name=&quot;ROSARIA_client&quot; pkg=&quot;ROSARIA&quot; type=&quot;RosAria&quot;/&gt;<br><br>  &lt;!-- Teleoperation program for RosAria node--&gt;<br>  &lt;node name=&quot;teleop&quot; pkg=&quot;ROSARIA&quot; type=&quot;teleop&quot;/&gt;<br>



<br>  &lt;node name=&quot;Gmapping&quot; pkg=&quot;gmapping&quot; type=&quot;slam_gmapping&quot; args=&quot;scan:=base_scan&quot;/&gt;<br>  &lt;param name=&quot;map_update_interval&quot; value=&quot;1&quot; /&gt;    <br>


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&lt;/launch&gt;<br><br>I am guessing the problem has to do either with the odometry or with the gmapping node. Here is a picture of the map I created: <a href="http://yfrog.com/5ywhdp">http://yfrog.com/5ywhdp</a><br><br>
And here is the bag file of the logged data: <a href="http://www.mediafire.com/?uw4jm8ffm67tbc2">http://www.mediafire.com/?uw4jm8ffm67tbc2</a>.<br><br>I also wanted to mention that gmapping sometimes generates warnings concerning the cache time and TF_OLD_DATA. I am not sure if these warnings are in direct relation with my problem.<br>
<br><br>Thank you for your help.<br><br>Regards!<br><br>Laura<br>