Hi,
I'm trying to build a map in Gazebo with a simulated turtlebot following [this tutorial](http://wiki.ros.org/turtlebot_gazebo/Tutorials/indigo/Make%20a%20map%20and%20navigate%20with%20it).
I launched the following nodes:
- roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=$(rospack find turtlebot_gazebo)/worlds/corridor.world
- roslaunch turtlebot_teleop keyboard_teleop.launch
- roslaunch turtlebot_rviz_launchers view_navigation.launch
- roslaunch turtlebot_gazebo gmapping_demo.launch The map I got is highly unstable and do not look like the simulated world. It seems that gmapping is adjusting the map frame according to the readings. I think that because the laser scans are very similar when the turtlebot is moving along a corridor so gmapping thinks that the turtlebot is not moving. I would like to do some coverage experiments and thus I need a reliable occupancy grid based on the robot position and the laser scans.
Is there anyway to tune this package to build an accurate map for this human like environment ? Maybe to say to gmapping to give more importance to the odom values sent ? Any help would be really appreciated, Thanks !
- roslaunch turtlebot_gazebo turtlebot_world.launch world_file:=$(rospack find turtlebot_gazebo)/worlds/corridor.world
- roslaunch turtlebot_teleop keyboard_teleop.launch
- roslaunch turtlebot_rviz_launchers view_navigation.launch
- roslaunch turtlebot_gazebo gmapping_demo.launch The map I got is highly unstable and do not look like the simulated world. It seems that gmapping is adjusting the map frame according to the readings. I think that because the laser scans are very similar when the turtlebot is moving along a corridor so gmapping thinks that the turtlebot is not moving. I would like to do some coverage experiments and thus I need a reliable occupancy grid based on the robot position and the laser scans.
Is there anyway to tune this package to build an accurate map for this human like environment ? Maybe to say to gmapping to give more importance to the odom values sent ? Any help would be really appreciated, Thanks !