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https://youtu.be/vQJC-mlnRKY

In the video I move the robot, and the laser readings seem to move along with the robot, when in fact they should be more stationary. I then increase the delay on the /scan topic, and I get a really thick wall, in the direction in which the robot is moving.

Any idea what might cause it? It seems that algorithms like gmapping are producing a pretty decent map.

I did a tf view_frame, and the tf's are all publishing at about 5hz, the robot is defined in a urdf.

Thank you in advance!

Here is the tf_view file, the laser scan comes from veldyne: C:\fakepath\frames.png


Originally posted by Cristian11235 on ROS Answers with karma: 55 on 2017-07-14

Post score: 0


Original comments

Comment by allenh1 on 2017-07-14:
Could you post the view_frames.py output?

Comment by Cristian11235 on 2017-07-14:
Ive updated the original post with the view frames output

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1 Answer 1

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It looks like your odometry is scaled incorrectly; notice how the laser scans move, but only about half as far as the robot moves.


Originally posted by ahendrix with karma: 47576 on 2017-07-14

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by Cristian11235 on 2017-07-14:
The issue was indeed the odometry was scaled exactly how you said, by half of what the robot moves at.

I had changed the motor controlled/ encoders and did not update the code to properly reflect this.

Thank you

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