My robot is equipped with the hokuyo urg-04lx-ug01.
I have odometry hence passing it to the updater:
self.slam.update(ls_array, (dxy_mm, dtheta_deg, dt));
As I start moving the robot starts discovering room A and then room B & C already the map seems to have rotated. I come back to room A and return the initial pose end=start using the same path. Now I noticed room A has significantly rotated in relation to the other room. Consequently the map isn't correct at all, neither is the path travelled by the robot.
- Wasn't the SLAM supposed to store and keep the boundaries for the first room it discovered?
- Why this rotation may be happening?
- How could I try to troubleshoot this issue with the data I have collected (odometry, calculated position, liDAR scans)?
- Can I tune SLAM to do a better job for my robot?
SLAM is pretty new to me, so please bear with me, any pointers on literature that may clarify and moderate my expectations of what SLAM can do.