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Hi Brian,<br><br>I can't post my message at answers.ros.org.<br><br>Thanks <br><br><div>> Date: Mon, 14 Nov 2011 17:31:45 -0800<br>> From: gerkey@willowgarage.com<br>> To: ros-users@code.ros.org<br>> Subject: Re: [ros-users] gmapping: Scan Matching Failed, using odometry<br>> <br>> hi Ricardo,<br>> <br>> If you ask this question over at answers.ros.org, I'll try to help.<br>> <br>> brian.<br>> <br>> On Sat, Nov 12, 2011 at 12:50 PM, Ricardo Campos<br>> <ricardo_campos_vsc@hotmail.com> wrote:<br>> > Hi,<br>> ><br>> > I'm using gmapping to create maps. But, it returns a lot of messages saying<br>> > "Scan Matching Failed, using odometry" and the resulting map has several<br>> > overlapped maps.<br>> ><br>> > In rviz the laser values seem to be correct. When I run the rostopic<br>> > command to see the behavior of base_scan (laser) and odom (odometry) topics,<br>> > 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 resulting<br>> > .yaml file and the .bag file.<br>> ><br>> > NOTE: 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<br>> > -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<br>> > _______________________________________________<br>> > ros-users mailing list<br>> > ros-users@code.ros.org<br>> > https://code.ros.org/mailman/listinfo/ros-users<br>> ><br>> ><br>> <br>> <br>> <br>> -- <br>> http://brian.gerkey.org<br>> _______________________________________________<br>> ros-users mailing list<br>> ros-users@code.ros.org<br>> https://code.ros.org/mailman/listinfo/ros-users<br></div> </div></body>
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