[ros-users] Problem with canonical_scan_matcher

[Eric Perko]

On Wed, Jan 5, 2011 at 5:05 AM, #TAN ZHI PING# <TANZ0066 at e.ntu.edu.sg>wrote:

>  Hi,
>
> I was trying out my pioneer robot using the canonical scan matcher but i
> realized that the pose2D (odometry) keep on changing despite the fact that
> the robot remained stationary throughout the whole event as shown in the
> link provided below.
>

Were there any people moving around in the laser scan while the robot was
stationary? When we tried out the polar/canonical scan matchers, we found
that they got confused by people wandering by and interpreted it as robot
motion (which is the best guess the scan matchers can make, but incorrect
for what the robot did). What does the laser scan look like? Is it noisy? If
the laser scan readings are bouncing back and forth (say between two values
on either side of a discretization unit), I could understand the scan
matchers also having some noise in their estimates.

- Eric


>
> http://www.youtube.com/watch?v=cTQ0T2p32hc
>
> This video shown the x-axis and y-axis relationship between the odom from
> the p2os driver (blue) and the pose2D from the canonical scan matcher (red)
> using rxplot. As i mention earlier on, there is a constant offset in the
> pose2D causing the position feedback to move away from it's ordinary
> position.
>
> Is there any way which i used to solve this problem?
>
> With thanks,
> Zhi Ping
>
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