[ros-users] gmapping

[Ricardo Campos]

Hi,

I'm using gmapping to produce maps in Webots. However the obtained maps present distortions and appears disfigured. Below, are described the gmapping parameters values that I am using. I would like to know if the problem relies in these values or if comes from other situations. I also would like to know if you agree with the parameters values.

Thanks



 // Parameters used by GMapping itself
  maxUrange_ = 0.0;  maxRange_ = 0.0; // preliminary default, will be set in initMapper()
  if(!private_nh_.getParam("sigma", sigma_))
    sigma_ = 0.05;
  if(!private_nh_.getParam("kernelSize", kernelSize_))
    kernelSize_ = 1;
  if(!private_nh_.getParam("lstep", lstep_))
    lstep_ = 0.05;
  if(!private_nh_.getParam("astep", astep_))
    astep_ = 0.05;
  if(!private_nh_.getParam("iterations", iterations_))
    iterations_ = 5;
  if(!private_nh_.getParam("lsigma", lsigma_))
    lsigma_ = 0.075;
  if(!private_nh_.getParam("ogain", ogain_))
    ogain_ = 3.0;
  if(!private_nh_.getParam("lskip", lskip_))
    lskip_ = 0;
  if(!private_nh_.getParam("srr", srr_))
    srr_ = 0.0;
  if(!private_nh_.getParam("srt", srt_))
    srt_ = 0.0;
  if(!private_nh_.getParam("str", str_))
    str_ = 0.0;
  if(!private_nh_.getParam("stt", stt_))
    stt_ = 0.0;
  if(!private_nh_.getParam("linearUpdate", linearUpdate_))
    linearUpdate_ = 0.5;
  if(!private_nh_.getParam("angularUpdate", angularUpdate_))
    angularUpdate_ = 0.5;
  if(!private_nh_.getParam("temporalUpdate", temporalUpdate_))
    temporalUpdate_ = -1.0;
  if(!private_nh_.getParam("resampleThreshold", resampleThreshold_))
    resampleThreshold_ = 0.5;
  if(!private_nh_.getParam("particles", particles_))
    particles_ = 30;
  if(!private_nh_.getParam("xmin", xmin_))
    xmin_ = -100.0;
  if(!private_nh_.getParam("ymin", ymin_))
    ymin_ = -100.0;
  if(!private_nh_.getParam("xmax", xmax_))
    xmax_ = 100.0;
  if(!private_nh_.getParam("ymax", ymax_))
    ymax_ = 100.0;
  if(!private_nh_.getParam("delta", delta_))
    delta_ = 0.05;
  if(!private_nh_.getParam("occ_thresh", occ_thresh_))
    occ_thresh_ = 0.25;
  if(!private_nh_.getParam("llsamplerange", llsamplerange_))
    llsamplerange_ = 0.01;
  if(!private_nh_.getParam("llsamplestep", llsamplestep_))
    llsamplestep_ = 0.01;
  if(!private_nh_.getParam("lasamplerange", lasamplerange_))
    lasamplerange_ = 0.005;
  if(!private_nh_.getParam("lasamplestep", lasamplestep_))
    lasamplestep_ = 0.005;
 		 	   		  
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