No subject

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 forme=
d
> contains lot of small maps inside it. And gmapping gives following messag=
es:
> ***********************************************************************
> ********** Error: m_distanceThresholdCheck overridden!!!! *************
> m_distanceThresholdCheck=3D20
> Old Odometry Pose=3D 44.6041 -1655.01 -2.5193
> New Odometry Pose (reported from observation)=3D -45.4415 -1712.42 -2.628=
94
> ***********************************************************************
> ** The Odometry has a big jump here. This is probably a bug in the =A0 **
> ** 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=3D106.791 ad=3D0.10964
> Laser Pose=3D -45.4415 -1712.42 -2.62894
> m_count 24
> Scan Matching Failed, using odometry. Likelihood=3D-4.02852e-44
> lp:44.6041 -1655.01 -2.5193
> op:-45.4415 -1712.42 -2.62894
> Scan Matching Failed, using odometry. Likelihood=3D-2360
> ....
> Scan Matching Failed, using odometry. Likelihood=3D-2360
> lp:44.6041 -1655.01 -2.5193
> op:-45.4415 -1712.42 -2.62894
> Average Scan Matching Score=3D0.629174
> neff=3D 23.179
> Registering Scans:Done
> ***********************************************************************
> ********** Error: m_distanceThresholdCheck overridden!!!! *************
> m_distanceThresholdCheck=3D20
> Old Odometry Pose=3D -45.4415 -1712.42 -2.62894
> New Odometry Pose (reported from observation)=3D -1497.98 -671.292 1.3872=
3
> ***********************************************************************
> ** The Odometry has a big jump here. This is probably a bug in the =A0 **
> ** 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=3D1787.12 ad=3D2.26701
> Laser Pose=3D -1497.98 -671.292 1.38723
> m_count 25
> Scan Matching Failed, using odometry. Likelihood=3D-4.02852e-44
> lp:-45.4415 -1712.42 -2.62894
> op:-1497.98 -671.292 1.38723
> Scan Matching Failed, using odometry. Likelihood=3D-2273.33
> .....
> Scan Matching Failed, using odometry. Likelihood=3D-2273.33
> lp:-45.4415 -1712.42 -2.62894
> op:-1497.98 -671.292 1.38723
> Average Scan Matching Score=3D0
> neff=3D 23.179
> Registering Scans:Done
> ***********************************************************************
> ********** Error: m_distanceThresholdCheck overridden!!!! *************
> m_distanceThresholdCheck=3D20
> Old Odometry Pose=3D -1497.98 -671.292 1.38723
> New Odometry Pose (reported from observation)=3D -1437.41 -468.525 1.1716=
7
> ***********************************************************************
> ** The Odometry has a big jump here. This is probably a bug in the =A0 **
> ** 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=3D211.619 ad=3D0.215566
> Laser Pose=3D -1437.41 -468.525 1.17167
> m_count 26
> Scan Matching Failed, using odometry. Likelihood=3D-4.02852e-44
> lp:-1497.98 -671.292 1.38723
> op:-1437.41 -468.525 1.17167
> Scan Matching Failed, using odometry. Likelihood=3D-2180
> .....
> Scan Matching Failed, using odometry. Likelihood=3D-2180
> lp:-1497.98 -671.292 1.38723
> op:-1437.41 -468.525 1.17167
> Average Scan Matching Score=3D0
> neff=3D 23.179
> Registering Scans:Done
> ***********************************************************************
> ********** Error: m_distanceThresholdCheck overridden!!!! *************
> m_distanceThresholdCheck=3D20
> Old Odometry Pose=3D -1437.41 -468.525 1.17167
> New Odometry Pose (reported from observation)=3D -1267.63 -198.425 0.8478=
47
> ***********************************************************************
> ** The Odometry has a big jump here. This is probably a bug in the =A0 **
> ** 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=3D319.028 ad=3D0.323822
> Laser Pose=3D -1267.63 -198.425 0.847847
> m_count 27
> Scan Matching Failed, using odometry. Likelihood=3D-4.02852e-44
> lp:-1437.41 -468.525 1.17167
> op:-1267.63 -198.425 0.847847
> Scan Matching Failed, using odometry. Likelihood=3D-2073.33
> lp:-1437.41 -468.525 1.17167
> op:-1267.63 -198.425 0.847847
> Scan Matching Failed, using odometry. Likelihood=3D-2073.33
> ....
>
>
> ANY IDEA PLEASE?
> regards
>
> --
> View this message in context: http://ros-users.122217.n3.nabble.com/Grig-=
Map-using-Poineer-Robot-tp1015870p1056257.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
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