[ros-users] Grig Map using Poineer Robot

[safdar_zaman]

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

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