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

Ricardo Campos ricardo_campos_vsc at hotmail.com
Tue Nov 15 10:02:15 UTC 2011


Hi Brian,

I can't post my message at answers.ros.org.

Thanks 

> Date: Mon, 14 Nov 2011 17:31:45 -0800
> From: gerkey at willowgarage.com
> To: ros-users at code.ros.org
> Subject: Re: [ros-users] gmapping: Scan Matching Failed, using odometry
> 
> 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
> > _______________________________________________
> > ros-users mailing list
> > ros-users at code.ros.org
> > https://code.ros.org/mailman/listinfo/ros-users
> >
> >
> 
> 
> 
> -- 
> http://brian.gerkey.org
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
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