ROS2 SLAM Toolbox Tutorial Mobile Robot Simulation

[@kevinwoodrobotics]

Code, documentation, and STL files: kevinwoodrobotics.com/product/ros2-slam-toolbox-tutorial-mobile-robot-simulation/

[@pablonescobar3896]

Thank you so much for the tutorial. It really helped me getting a grasp of things before having to look into the documentation! Keep up the good work my man!

[@kevinwoodrobotics]

Glad to hear!

[@bhupeshnandardhane5630]

Hello there, great tutorials I am facing an issue of my generated map and the laserscan does didn't get align in the rviz how can I deal with this error please help.

[@kevinwoodrobotics]

@@bhupeshnandardhane5630 try checking your reference frames in rviz

[@라이프백패커]

I'm using the slam_toolbox to move the robot, but I observe that the map's edge and LiDAR point-cloud often become misaligned. This misalignment happens in a way that the LiDAR point-cloud rotates around the robot's TF. As the robot moves further, the map's edge and LiDAR point-cloud align again, and this cycle keeps repeating. Additionally, when the robot rotates in place, the map and point-cloud do not rotate in sync; instead, the LiDAR point-cloud rotates faster or misaligns. I'm using the robot_localization package to generate the map's TF, which connects with the map TF from slam_toolbox. In actual usage, the data from robot_localization (using wheel odometry and IMU) does not experience yaw drift (with the 9-axis IMU). The LiDAR is an RPLIDAR A3 operating at 256000 with Boost mode. SBC is raspberry pi 4 Could you provide any advice on this issue?

[@kevinwoodrobotics]

Yeah sometimes it does that. Having a unique background will help since the feature detection tries to pick up unique features. Also try to move slower and explore like a maze instead of turning in place