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robopeak / rplidar_ros

BSD 2-Clause "Simplified" License
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The map error with gmapping #56

Closed kleinHao closed 6 years ago

kleinHao commented 6 years ago

Hi, when I build map with gmapping and rplidar, there is something wrong. If I move or turn it little by little, it can build the right map as picture 1. However, when I move it fast or turn a large angle in a short time, it doesn't work in a right way. As you can see in picture 2-4, the previous map doesn't move or rotate, so it builds new map incorrectly. I haven't changed the original launch file and don't know why it happens. And I also wanna know, why it says I need to change the static_transform_publisher if I use a real robot in "gmapping.launch" and what I should do. Thanks for your help! gmapping1 gmapping2 gmapping3 gmapping4

kintzhao commented 6 years ago

check your tf_tree and frame transform . http://www.robotics.sei.ecnu.edu.cn/ROS2017/docs/0728/RPLidar%20For%20ROS%20Based%20SLAM_slamtec_KintZhao_2017.pdf