When the robot rotates more than this value, it will run the scan process.
When the robot translates longer distance than this value, it will run the scan process. If the parameter is set properly, you will see information similar to one shown below. This can reduce errors in the expected position of the robot in a large area. This parameter sets the minimum score value that determines the success or failure of the sensor’s scan data matching test. Set this parameter depending on the map environment. However, setting this too small will be require more processing power for the map calculation. The smaller the value, the more frequent the map is updated. This parameter defines time between updating the map. This parameter is set the maximum usable range of the lidar sensor. If you want to optimize SLAM performances for your environments, this section might be helpful.īelow parameters are defined in turtlebot3_slam/config/gmapping_params.yaml file. This tuning guide provides tips when configuring gmapping parameters. You can get an information about whole parameters in ROS WiKi or refer to the Chapter 11 of ROS Robot Programming. Gmapping has many parameters to change performances for different environments. > roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
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