Estimation of 2D odometry based on planar laser scans. Useful for mobile robots with innacurate base odometry. For full description of the algorithm, please refer to: Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA 2016 Available at: http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/papers/217
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When robot is ideal, Recieving WARNING: Eigensolver couldn't find a solution. Pose is not updated #39
When the robot is standing ideal in sim, it throws the mentioned warnings and as soon as I drive the robot it starts computing the odometry.
Is this behaviour is normal or am I missing something. Also I noticed in odometry message, sometimes why the orientation.w field changes like 0.14 when the robot turns sharp, is this normal adjusting of quaternians? Just wanted to clarify this.
Also, I am having rgb-d intel camera which I simulated in gazebo as well and using point_to_laserscan to get the scan topic and all the scans are having no -+inf.
For this scenario, are there any specific parameter I could include to handle range stuff? @JGMonroy
When the robot is standing ideal in sim, it throws the mentioned warnings and as soon as I drive the robot it starts computing the odometry.
Is this behaviour is normal or am I missing something. Also I noticed in odometry message, sometimes why the
orientation.wfield changes like0.14when the robot turns sharp, is this normal adjusting of quaternians? Just wanted to clarify this.Also, I am having rgb-d intel camera which I simulated in gazebo as well and using
point_to_laserscanto get thescantopic and all the scans are having no -+inf.For this scenario, are there any specific parameter I could include to handle range stuff? @JGMonroy
My odometry message: