[ros-users] Is scan_tools maintained ?

Willy Lambert lambert.willy at gmail.com
Fri May 13 10:46:44 UTC 2011

2011/5/13 Ivan Dryanovski <ivan.dryanovski at gmail.com>

> Hi Willy
> I replied at answers.ros.org, but here's some extra info.
> The scan_tools stack is being maintained, although we are stretched a
> little thin in terms of manpower. If you find anything that's broken,
> or documentation that's out of date, let me know, and I'll fix it.
> Last time I checked (around cturtle) both canonical and polar were
> working.

I will certainely have plenty of questions, so if your are keen at
anwsering, here is some background information :
I am using this node an a differential robot you can see here (the hokuyo
providing the scans is a the front on the first left picture.
It evolves on such kind of tables with fixed walls often in view:

The classical odometry does well at the condition of separating the
propulsive whell from the "encoder wheel". It is not the case in our design,
so the odometry information are good at :
_ low speed/low acc
_ better at the beginning
_ no good when bumping into an obstacle (and this happens oftenly).
So my team and I are very interessed in such kind of "no floor link"
odometry, that's why we are trying the canonical_scan_matcher. But behind
this, there are industrial applications of this that would love to have a
working combination of dead reackoning + laser odometry.

What I misses in the documentation is the tuning capabilities of the node,
knowing that a quite good odometry is provided (I think there are by default
configured for no odometry returns).  In comparing the 2 systems, I see both
system sometimes right sometimes wrong. So there must be something to tune
to have a proper merge of the 2 localisation systems.

Another point : it seems that the system is (by far) better when the
environnment is static (which is normal). Is it something to tune to be
robust to this ?

> > BTW I am quite impressed of the precision out of the box of the
> > canonical_scan_matcher.
> The props for that should go Andrea Censi, whom I had the pleasure of
> meeting at ICRA a couple of days ago.
> Ivan
> PS looks like you just posted some track tickets. I'll take a look.
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