[ros-users] Grig Map using Poineer Robot

Brian Gerkey gerkey at willowgarage.com
Mon Aug 9 17:45:45 UTC 2010


>From what gmapping is telling you, it would seem that something is
wrong with the odometry data.  Can you record a .bag file with /tf and
/scan (or whatever your base laser's topic is), and post a link to the
.bag?

	brian.

On Mon, Aug 9, 2010 at 7:27 AM, safdar_zaman <safdaraslam at yahoo.com> wrote:
>
> 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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