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