tune gmapping parameters for gazebo turtlebot

[jihoonl]

turtlebot gmapping parameters seems not fit for gazebo simulated turtlebot. The robot jumps seriously a lot while slam and does not trust odometry...

The current param set works ok with real turtlebot though.

[stonier]

@jihoonl Is this a recent problem or was always a problem? I suspect its always been there because the commit history indicates the only change is the minimumScore update.

@AlexReimann, @mehditlili you might like to tune into this issue.

[jihoonl]

Related ROS Answers : http://answers.ros.org/question/189159/bad-maps-produced-by-gmapping-in-simulation-with-feature-poor-environments/?answer=189171#post-id-189171

[stonier]

Perhaps some steps to get started:

• Validate the tutorial works fine - this is a feature rich environment
• Setup a non-concert corridor environment (@jihoonl can you provide this?)
• Play around with the noise model for the odometry in the kobuki gazebo plugin
• Check the noise model for the 3d sensor
• Play around with the gmapping minimumScore parameters (currently 200)
  • What scores are a simple environment creating?
  • What happens if you make this really large (shouldn't do any particle jumping)
• ....

[jihoonl]

How to start gazebo with corrider world

1. get the latest code of turtlebot_simulator
2. Then ..

roslaunch turtlebot_gazebo turtlebot_world.launch world_name:=corridor

//empty, and playground are also available

1. Start gmapping, teleop, rviz and test.