Gopigo3 Slam not working yet

[pitosalas]

When I launch roslaunch gopigo3_navigation gopigo3_slam.launch I believe everything looks right - lidar spins, rviz shows walls etc. But then I realize that they are really inaccurate. I drive the robot around and the walls take time before they land back on where the Lidar says they are. They jump around.

Next when I launch roslaunch gopigo3_navigation amcl.launch map_file:=/home/pitosalas/catkin_ws/test_map.yaml the map still looks pretty bad and the robot’s localization makes it jump back and forth between places, it’s obviously not able to determine where it is. If I give it a destination, it never makes it.

Either something is still not set up right, or is there a calibration step that comes next? It certainly doesn’t work cleanly like the example in the book.

Suggestions?

[cyclicalobsessive]

@pitosalas

doesn’t work cleanly like the example in the book.

@brjapon, any suggestions to debug this? Could this be a result of the Ydlidar x/y not exactly lined up with the bot’s x/y?

GoPiGo3-ROS - Orientation of the Ydlidar

Having some problems getting SLAM to work I noticed something interesting. I think that the tf for the Lidar is wrong, by 90degrees around the z-axis. And this matches some of the pictures in the book where it looks like it’s mounted 90degrees off. Is this true? Why was it mounted that way? And save me a bunch of trial and error to find where that static tf is stored and how to change it? Thanks!