I am setting up a Gazebo model for use with the navigation stack. I have been reading the [Navigation Tuning Guide](http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide) and am confused about the lidar data in the odom frame. I would think that the tuning guide, when it says:
"The first test checks how reasonable the odometry is for rotation. I open up rviz, set the frame to "odom," display the laser scan the robot provides, set the decay time on that topic high (something like 20 seconds), and perform an in-place rotation. Then, I look at how closely the scans match each other on subsequent rotations. Ideally, the scans will fall right on top of each other, but some rotational drift is expected, so I just make sure that the scans aren't off by more than a degree or two. (Nav Stack Tuning)"
it means that the lidar data is supposed to be in approximately the same place before, during, and after the rotation. I have been reading and it seems that these sweeping swirls that I see are correct? I have been trying to use gmapping in my simulation and whenever I rotate the map gets horridly disfigured - I believe that odometry is to blame.
[I have recorded what the lidar data looks like in the odom frame](https://drive.google.com/file/d/1z3rb6I0C6nPDrHgPm-Hg_OowKA_BopIG/view?usp=sharing). Is this correct or should it look differently?
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