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I'm trying to create the map following the commands, but it's clearly impossible. Doesn't matter if I go fast or superslow, the robot jumps around after a while and the map is useless. This is really frustrating. What do I have to do?
Hi @Marco_Monforte ,
“Impossible” is a strong word. I am sure it is not impossible to do things in ROS 1/2.
Coming to your issue, mapping usually suffers when certain conditions are not met during mapping process.
- Loop Closure - if the mapping algorithm is unable to perform loop closure, then the mapping or the map will be bad.
- Speed of robot - moving the robot too fast and turning the robot too fast will make the robot go “dizzy” during mapping process.
- The odometry frame has drifted due to position or velocity errors.
To avoid all those and have a good mapping, the following are the best-practices.
- Map the environment slowly and steadily.
- Don’t use fast linear and angular speeds.
- Use a reasonable map resolution setting that is not too fine or too coarse.
- Try not to collide with any blocks during mapping.
- Mapping process is assumed to be partly or fully supervised process. Since you are the person physical moving the robot to map the environment, please be patient and map slowly.
- Robot “jumping” position is commonly referred to as “robot kidnapping” - this happens due to bad odometry or fast speeds or lot of collisions.
If you follow the above 6 practices during your mapping, I am sure you will get a quality map.
Also, look into your mapping config file to see if you can modify any values that will make the mapping process better - there are so many variables and I can’t say for sure which variables have more impact on the mapping process.
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