I have two sources of LiDAR sensor on the robot one in the front and other on the back with 270 field view for both, I am using https://github.com/iralabdisco/ira_laser_tools to merge the two sensors to produce a single 360 field of laser scan data. The odom => base_link transform is provide by GAZEBO.
Gmapping does produce a map with merged LaserScan data but the map generated is a bit inconsistent,
The map generated by any of the front or rear LaserScan sensor is as expected,
I have two sources of LiDAR sensor on the robot one in the front and other on the back with 270 field view for both, I am using https://github.com/iralabdisco/ira_laser_tools to merge the two sensors to produce a single 360 field of laser scan data. The
odom => base_link
transform is provide by GAZEBO.Gmapping does produce a map with merged LaserScan data but the map generated is a bit inconsistent,
The map generated by any of the front or rear LaserScan sensor is as expected,
Below is the metadata for all the sensor,
Merged:
Front:
Rear:
What could be the reason which leads to such an inconsistent map generation using merged LaserScan data?