Hi. I am working with a home-made differential robot that have a RPLiDAR sensor for SLAM. Initially it worked with Hector-Slam a i had quiet good results, but now i am trying to improve them with Gmapping. I follow this [turorial](http://geduino.blogspot.com/2015/04/gmapping-and-rplidar.html) for setting up the parameters of Gmapping. Then i record a bag and when a i make my map with Gmapping i get a worst result than the one provided by hector. The Hector's result is this one [Hector](https://ibb.co/0qMVjRb), and [Gmapping](https://ibb.co/Ydpg2BS)
I tryed to follow the solution propose in this [question](http://answers.ros.org/question/206185/why-rplidar-gmapping-has-a-bad-result/) but it didn't work.
I think that my problem is related with my frames despite i follow the specifications explained [here](http://wiki.ros.org/gmapping?distro=lunar).My tf tree is this [one](https://ibb.co/GQh7tKt).
I am trying to upload the maps generated by both algorithms but i cant because i don't have five points, and i don't know how to earn them.
Thanks for your help
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