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rosslamgazebo-simurviz
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Why does mapping out the Turtlebot 3 World from Gazebo in RViz SLAM GMapping result in a spontaneously cut off map?

Working with Visual Studio Code. WSL. Ubuntu 20.0.4. ROS Noetic.

Following this guide: https://emanual.robotis.com/docs/en/platform/turtlebot3/slam_simulation/

I have tried to map this out on both my own and another laptop under the same environment and it has resulted in a similarly spontaneously split map. I'm new to ROS and was using this as an introduction to Gazebo simulation but I can't progress without having a proper map. I've tried messing with the gmapping parameters to little avail.

Ran:

(roscore)

Terminal 1

$ cd catkin_ws
$ source ./devel/setup.bash
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Terminal 2

$ cd catkin_ws
$ source ./devel/setup.bash
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Terminal 3

$ cd catkin_ws
$ source ./devel/setup.bash
$ export TURTLEBOT3_MODEL=waffle
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

The map builds as the robot reaches it with it's simulated LiDar everywhere except the perfect cut-off.

Anyone know how to avoid this cut-off mapping?

Upvotes: -1

Views: 274

Answers (1)

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I'm posting this as an answer but it doesn't really actually solve the problem. I ran map_saver and checked the .pgm file, which showed a completely rendered map, you are able to act as if the space exists even if it's not rendered. I believe it could have something to do with my GPU? Unsure. Regardless, it is properly recording the data of the map, it just isn't drawing it.

pgm file

Upvotes: 0

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