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

Brian Gerkey gerkey at willowgarage.com
Tue Nov 15 01:31:45 UTC 2011


hi Ricardo,

If you ask this question over at answers.ros.org, I'll try to help.

	brian.

On Sat, Nov 12, 2011 at 12:50 PM, 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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>
>



-- 
http://brian.gerkey.org



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