I also checked the CPU usage, which is about 90% in total. So, I think map_update_interval is not a problem.
Since my waffle pi doesn't move straight, some people suggested to tune the odometry, but I can't find the way to tune the odometry in waffle pi.
Can anyone give me some advices so I can improve my map. I really appreciate some advices. Thanks!
If you are trying to create a map of long corridor, this could happen.
There could be many reasons for this, for example, slippery floor may cause error in odometry calculation.
In case of creating a map of wide area, cartographer might work better, so try with various options.
Hi willson. Sorry this is quite out of the topic.
I installed cartographer by using
sudo apt-get install ros-kinetic-cartographer ros-kinetic-cartographer-ros ros-kinetic-cartographer-ros-msgs ros-kinetic-cartographer-rvi
Then, I tried to run it, but I got a error like this.
ERROR: cannot launch node of type [cartographer_ros/cartographer_occupancy_grid_node]: can't locate node [cartographer_occupancy_grid_node] in package [cartographer_ros]
After researching on the internet, apparently I suppose to use cartographer 0.3.0. So, I follow the installation step as in the e-manual.
However, when I tried to run it, I got the same error.
I really appreciate it if you help me with this error.
Please refer to eManual in order to install Cartographer in ROS Kinetic.
Thanks for your reply, willson.
I successfully installed cartographer, and the scanned map is straight.
However, I have 2 issues with the scanned map.
First, when I start cartographer, the scanned map leans a little bit, although the robot is positioned to be straight.
Is it a hardware problem?
Second, I want to ask how to improve the scanned map.
My cartographer result is like here.
The area inside the red circles supposed to be a pillar, like in my first post.
However, as the robot moves, the space (the pillar) is removed and the distance in the map also decreases by about 0.5 m (the width of one pillar) for every pillar.
Can you tell me how to improve the scanned map?
You might want to search for more information from SLAM / cartographer community as I have less experience and knowledge about the algorithm.
In case of running the SLAM in a long hallway without any significant object as references may cause an issue as the algorithm will be difficult to identify the location based on matching data.
Try putting some obstacles in the random locations in the hallway and see if it resolves your problem.