[ros-users] gmapping: Scan Matching Failed, using odometry

Mon Nov 14 17:27:47 UTC 2011

Ricardo,

Please don't send your question more than once.

See
http://www.ros.org/wiki/Support#Guidelines_for_asking_a_question_.28Please_read_before_posting.29.
In particular:

"*Please don't send your question more than once*: The question was seen.
If you didn't get a response then likely nobody has had time to answer you.
Alternatively, it could be that nobody knows the answer. In any case,
sending it again is poor form and akin to shouting and is likely to
aggravate a large number of people. This also applies to
crossposting<http://en.wikipedia.org/wiki/Crossposting>.
Try to pick the forum which you think matches best and ask there. If you
are referred to a new forum, provide a link to the old discussion."

Also, you have stated that you are "attaching a bagfile" to the message,
but none has come through (likely due to being too large for the mailing
list). In any case, as I mentioned in my response to your first email to
ros-users (under a slightly different subject line), you should ask this on
answers.ros.org as that is the proper support forum.

- Eric

On Mon, Nov 14, 2011 at 11:56 AM, Ricardo Campos <
ricardo_campos_vsc at hotmail.com> wrote:

>
>
> Hi,
>
> I'm using *gmapping *to create maps. But, it returns a lot of messages
> saying "*Scan Matching Failed, using odometry*" and the resulting map has
> several overlapped maps.
>
> In *rviz* the laser values seem to be correct. When  I run the *rostopic
> command* to see the behavior of *base_scan* (laser) and *odom* (odometry)
> topics, it is possible to verify that the values are correctly published on
> ROS.
>
> . I'm using these parameters in my code for the values on LaserScan:
>
>
> scan.angle_min = -1.57;
>
> scan.angle_max = 1.57;
>
> scan.angle_increment = 3.14 / num_readings;
>
> scan.time_increment = (1 / laser_frequency) / (num_readings);
>
> scan.range_min = 0.0;
>
> scan.range_max = 80.0;
>
>
> Someone can help me ? Together with this message I attach the *resulting *
> *.yaml* file and the *.bag* file.
>
> *NOTE*: Below is presented part of the resulting command line with the
> error:
>
>
>  -maxUrange 79.99 -maxUrange 79.99 -sigma     0.05 -kernelSize 1 -lstep
> 0.05 -lobsGain 3 -astep 0.05
>  -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
>  -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
>  -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
> [ INFO] [1321129265.860843005]: Initialization complete
> update frame 0
> update ld=0 ad=0
> Laser Pose= 15 1 1.57733
> m_count 0
> Registering First Scan
> update frame 246
> update ld=1.00164 ad=0
> Laser Pose= 13.9984 0.993456 1.57733
> m_count 1
> Scan Matching Failed, using odometry. Likelihood=3.10908e-305
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
> lp:15 1 1.57733
> op:13.9984 0.993456 1.57733
> Scan Matching Failed, using odometry. Likelihood=-1200
>
>
>
> Thanks
>
> _______________________________________________
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>
>
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