bad performance in SLAM

Question

bad performance in SLAM

mOZz339 opened this issue 3 years ago · comments

mOZz339 commented 3 years ago

I used original parameters of gmapping in SLAM, the mini-cheetah got a bad performance, as following.

2021-03-19.16-28-22.mp4

And ,this is my world.

Juan Miguel Jimeno · Answer 1 · Fri Mar 19 2021 18:03:08 GMT+0800 (China Standard Time)

Hi can you try increasing the max range https://github.com/chvmp/champ/blob/master/champ_config/launch/include/gmapping.launch#L10

mOZz339 · Answer 2 · Mon Mar 22 2021 09:45:18 GMT+0800 (China Standard Time)

Hi can you try increasing the max range https://github.com/chvmp/champ/blob/master/champ_config/launch/include/gmapping.launch#L10

Thanks,it performs better than before,but I still can not solve the probem of instantaneous translation in the video (time is 0:31,1:32). It appears a lot during my SLAM,especially on the turning left or right. The reason is my world is too large or the shake of robot model?

Juan Miguel Jimeno · Answer 3 · Mon Mar 22 2021 18:41:14 GMT+0800 (China Standard Time)

Looks like the robot's mapping on a featureless area of the environment. It's a known issue for mapping as discussed here https://answers.ros.org/question/12427/gmapping-failed-in-long-corridor-using-navigation-stack/ .

mOZz339 · Answer 4 · Mon Mar 22 2021 18:56:19 GMT+0800 (China Standard Time)

Looks like the robot's mapping on a featureless area of the environment. It's a known issue for mapping as discussed here https://answers.ros.org/question/12427/gmapping-failed-in-long-corridor-using-navigation-stack/ .

Thanks for replying,I will close the issue ^_^