[ros-users] Overlapping of map using slam_gmapping

Brian Gerkey gerkey at willowgarage.com
Mon Sep 27 15:32:34 UTC 2010

On Fri, Sep 24, 2010 at 3:03 PM, Laura <laurago894 at gmail.com> wrote:
> I checked the odometry as you suggested and found out that there is in fact
> something wrong with it. I, however, don't understand what is causing the
> problem. While I was rotating the robot in place, i noticed that the map
> frame and the odometry frame weren't rotating in the same way. The map frame
> didn't rotate enough and therefore the laser scans were overlapping.
> I also noticed that only half the scans were being mapped
> (http://yfrog.com/149wpp) and I am not sure if this is due to an odometry
> error or if it has something to do with gmapping. I am enclosing one of the
> bag files I recorded today: http://www.mediafire.com/?87j717suk1d4kx9

hi Laura,

I'm not sure what's going on, but there does appear to be something
wrong with the odometry.  Until that's resolved, neither mapping nor
localization will work.

Maybe somebody with knowledge of ROSARIA can suggest something to try.


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