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JSKAerialRobot / jsk_uav_forest

THe platform for the uav forest challenge
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Mapping #37

Closed tongtybj closed 7 years ago

tongtybj commented 7 years ago

I am trying different types of slam with the forest environment.

The best result so far(sorry, only try two methods...) is gmapping gmapping2

The problem is that the offset of the initial pose and final pose, let's is the /world frame and /odom frame is quite big. More than 1[m]. gmapping_result2

Anyway, I don't believe the accuracy of mapping is good enough, but at the same time I also realized that the drift given by the integrated odometry indeed exists. This topic is related to #31.

tongtybj commented 7 years ago

We have to stop the mapping, if we move forward to back #29 #42, since we can not catch any trees.

tongtybj commented 7 years ago

We should not start the mapping after the first detection, if we are on a slope. Otherwise, the scan will hit the slope, add wrong obstacle info to the map. please check #65 too.

tongtybj commented 7 years ago

Add the correct start time by 328b1607f988c8d02eaa3ca8f1d05afaa4e5ef98