Hector SLAM map appears distorted/overwriiten by itself.
I am using RPLidar for indoor mapping. The rplidar is connected to raspberry pi. I am able to visualize the map on another machine; however the mapp appears distorted. At first, it looks good but when I move the rplidar around, it seems like anther layer of the map overwrites the previous one (partially) and so it appears distorted. Attached is the image where you can see the map: https://imgur.com/a/7aaFk2u
Asked by kowais915 on 2023-05-04 16:33:48 UTC
Answers
The map is distorted/overwriiten by itself because the slam node do know how the rplidar is moved.
Generally, the rplidar is binded with movable base with odometry or imu (use tf node to link them). Then when you move the rplidar, the model in rviz is also moved synchronously, the map will coincident with before.
Asked by MichaelShuo on 2023-06-27 20:43:11 UTC
Comments
@mike-scheutzow could you please help?
Asked by kowais915 on 2023-05-04 17:11:56 UTC
@kowais915 I do not have your answer but I have seen something similar. It seems like an issue with constraints. There is a video I'll link you to that shows a similar slam map. I think they solved the issued by completing a loop and having that relative final location loop back to the starting spot and placing a stiff constraint that compensated for the deviation. https://youtu.be/saVZtgPyyJQ?t=455 Hope this helps. -RichardVZ
Asked by RichardVZ on 2023-05-05 09:07:38 UTC