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shankerkeshavdas

ROS-Answers/Navigation/Gmapping

Feb 1st, 2012
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  1. talkingrobots@dfki-delmarre:~$ rosrun gmapping slam_gmapping
  2. [ WARN] [1328089186.417388000]: Message from [/hokuyo_node] has a non-fully-qualified frame_id [laser]. Resolved locally to [/laser]. This is will likely not work in multi-robot systems. This message will only print once.
  3. -maxUrange 5.59 -maxUrange 5.59 -sigma 0.05 -kernelSize 1 -lstep 0.05 -lobsGain 3 -astep 0.05
  4. -srr 0.1 -srt 0.2 -str 0.1 -stt 0.2
  5. -linearUpdate 1 -angularUpdate 0.5 -resampleThreshold 0.5
  6. -xmin -100 -xmax 100 -ymin -100 -ymax 100 -delta 0.05 -particles 30
  7. [ INFO] [1328089186.566536394]: Initialization complete
  8. update frame 0
  9. update ld=0 ad=0
  10. Laser Pose= 0.004 0.044 -1.23918
  11. m_count 0
  12. Registering First Scan
  13. update frame 787
  14. update ld=0.0364379 ad=0.537018
  15. Laser Pose= 0.016 0.01 -0.702165
  16. m_count 1
  17. Average Scan Matching Score=259.713
  18. neff= 29.9735
  19. Registering Scans:Done
  20. update frame 795
  21. update ld=0 ad=0.517728
  22. Laser Pose= 0.016 0.01 -0.184438
  23. m_count 2
  24. Average Scan Matching Score=210.505
  25. neff= 29.9748
  26. Registering Scans:Done
  27. update frame 808
  28. update ld=0 ad=0.518125
  29. Laser Pose= 0.016 0.01 0.333687
  30. m_count 3
  31. Average Scan Matching Score=212.815
  32. neff= 29.9384
  33. Registering Scans:Done
  34. update frame 821
  35. update ld=0 ad=0.51977
  36. Laser Pose= 0.016 0.01 0.853457
  37. m_count 4
  38. Average Scan Matching Score=263.499
  39. neff= 29.2989
  40. Registering Scans:Done
  41. update frame 834
  42. update ld=0 ad=0.515251
  43. Laser Pose= 0.016 0.01 1.36871
  44. m_count 5
  45. Average Scan Matching Score=290.531
  46. neff= 29.1745
  47. Registering Scans:Done
  48. update frame 843
  49. update ld=0 ad=0.527599
  50. Laser Pose= 0.016 0.01 1.89631
  51. m_count 6
  52. Average Scan Matching Score=271.762
  53. neff= 29.1236
  54. Registering Scans:Done
  55. update frame 856
  56. update ld=0 ad=0.507731
  57. Laser Pose= 0.016 0.01 2.40404
  58. m_count 7
  59. Average Scan Matching Score=297.781
  60. neff= 29.0167
  61. Registering Scans:Done
  62. update frame 869
  63. update ld=0 ad=0.527416
  64. Laser Pose= 0.016 0.01 2.93145
  65. m_count 8
  66. Average Scan Matching Score=313.264
  67. neff= 28.6815
  68. Registering Scans:Done
  69. update frame 882
  70. update ld=0 ad=0.526359
  71. Laser Pose= 0.016 0.01 -2.82537
  72. m_count 9
  73. Average Scan Matching Score=314.194
  74. neff= 28.3305
  75. Registering Scans:Done
  76. update frame 889
  77. update ld=0 ad=0.511959
  78. Laser Pose= 0.016 0.01 -2.31341
  79. m_count 10
  80. Average Scan Matching Score=360.723
  81. neff= 28.2849
  82. Registering Scans:Done
  83. update frame 902
  84. update ld=0 ad=0.523772
  85. Laser Pose= 0.016 0.01 -1.78964
  86. m_count 11
  87. Average Scan Matching Score=371.938
  88. neff= 28.289
  89. Registering Scans:Done
  90. update frame 914
  91. update ld=0 ad=0.514745
  92. Laser Pose= 0.016 0.01 -1.2749
  93. m_count 12
  94. Average Scan Matching Score=318.611
  95. neff= 28.284
  96. Registering Scans:Done
  97. update frame 1089
  98. update ld=0 ad=0.520583
  99. Laser Pose= 0.016 0.01 -0.754312
  100. m_count 13
  101. Average Scan Matching Score=287.319
  102. neff= 28.2789
  103. Registering Scans:Done
  104. update frame 1097
  105. update ld=0 ad=0.527005
  106. Laser Pose= 0.016 0.01 -0.227307
  107. m_count 14
  108. Average Scan Matching Score=282.638
  109. neff= 28.2776
  110. Registering Scans:Done
  111. update frame 1110
  112. update ld=0 ad=0.509124
  113. Laser Pose= 0.016 0.01 0.281817
  114. m_count 15
  115. Average Scan Matching Score=279.695
  116. neff= 28.2743
  117. Registering Scans:Done
  118. update frame 1123
  119. update ld=0 ad=0.526982
  120. Laser Pose= 0.016 0.01 0.808799
  121. m_count 16
  122. Average Scan Matching Score=280.525
  123. neff= 28.278
  124. Registering Scans:Done
  125. update frame 1136
  126. update ld=0 ad=0.510319
  127. Laser Pose= 0.016 0.01 1.31912
  128. m_count 17
  129. Average Scan Matching Score=294.537
  130. neff= 28.2775
  131. Registering Scans:Done
  132. update frame 1145
  133. update ld=0 ad=0.525019
  134. Laser Pose= 0.016 0.01 1.84414
  135. m_count 18
  136. Average Scan Matching Score=322.711
  137. neff= 28.2519
  138. Registering Scans:Done
  139. update frame 1158
  140. update ld=0 ad=0.523876
  141. Laser Pose= 0.016 0.01 2.36801
  142. m_count 19
  143. Average Scan Matching Score=328.57
  144. neff= 28.255
  145. Registering Scans:Done
  146. update frame 1171
  147. update ld=0 ad=0.512802
  148. Laser Pose= 0.016 0.01 2.88082
  149. m_count 20
  150. Average Scan Matching Score=356.035
  151. neff= 28.2979
  152. Registering Scans:Done
  153. update frame 1183
  154. update ld=0 ad=0.525143
  155. Laser Pose= 0.016 0.01 -2.87723
  156. m_count 21
  157. Average Scan Matching Score=326.054
  158. neff= 28.1042
  159. Registering Scans:Done
  160. update frame 1190
  161. update ld=0 ad=0.511789
  162. Laser Pose= 0.016 0.01 -2.36544
  163. m_count 22
  164. Average Scan Matching Score=329.491
  165. neff= 28.105
  166. Registering Scans:Done
  167. update frame 1203
  168. update ld=0 ad=0.524952
  169. Laser Pose= 0.016 0.01 -1.84049
  170. m_count 23
  171. Average Scan Matching Score=353.545
  172. neff= 28.1036
  173. Registering Scans:Done
  174. update frame 1215
  175. update ld=0 ad=0.524864
  176. Laser Pose= 0.016 0.01 -1.31562
  177. m_count 24
  178. Average Scan Matching Score=379.425
  179. neff= 28.1036
  180. Registering Scans:Done
  181. update frame 1232
  182. update ld=0.001 ad=0.525439
  183. Laser Pose= 0.017 0.01 -1.44384
  184. m_count 25
  185. Average Scan Matching Score=376.748
  186. neff= 28.1122
  187. Registering Scans:Done
  188. ^Cvirtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Start
  189. virtual GMapping::GridSlamProcessor::~GridSlamProcessor(): Deleting tree
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