{"action":"opened","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1092","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1092/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1092/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1092/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/1092","id":378049252,"node_id":"MDU6SXNzdWUzNzgwNDkyNTI=","number":1092,"title":"Map ","user":{"login":"kevinatorchen","id":13036299,"node_id":"MDQ6VXNlcjEzMDM2Mjk5","avatar_url":"https://avatars0.githubusercontent.com/u/13036299?v=4","gravatar_id":"","url":"https://api.github.com/users/kevinatorchen","html_url":"https://github.com/kevinatorchen","followers_url":"https://api.github.com/users/kevinatorchen/followers","following_url":"https://api.github.com/users/kevinatorchen/following{/other_user}","gists_url":"https://api.github.com/users/kevinatorchen/gists{/gist_id}","starred_url":"https://api.github.com/users/kevinatorchen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kevinatorchen/subscriptions","organizations_url":"https://api.github.com/users/kevinatorchen/orgs","repos_url":"https://api.github.com/users/kevinatorchen/repos","events_url":"https://api.github.com/users/kevinatorchen/events{/privacy}","received_events_url":"https://api.github.com/users/kevinatorchen/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-06T21:53:15Z","updated_at":"2018-11-06T21:53:15Z","closed_at":null,"author_association":"NONE","body":"I am a researcher at a university, and I am having difficulty configuring Cartographer to be used for our Fetch Robot. The map that the Cartographer produces looks very hazy and uncertain. Below is a screenshot from rviz:\r\n\r\n![image](https://user-images.githubusercontent.com/13036299/48094831-35b8e100-e1e1-11e8-9a53-a11f8a161fa7.png)\r\n\r\nI generated this map by launching a Fetch Robot simulator (just the freight, or robot base). I then recorded it moving around in a playground by outputting it into a bag file.\r\n\r\nThis is the output when running cartographer_rosbag_validate on the bag file I generated:\r\nhttps://gist.github.com/kevinatorchen/37de52028a094cc9e651f862a9572d48\r\n\r\nBelow is the bag file (along with the pbstream file):\r\nhttps://drive.google.com/file/d/1PXoN82T1-nMEwHiABodwad-_lAdVLFJP/view?usp=sharing\r\nhttps://drive.google.com/file/d/1ilJac5ilCPXD6HVah5vsz68l83KUd8Hw/view?usp=sharing\r\n\r\nHere is my fork of cartographer_fetch:\r\nhttps://github.com/kevinatorchen/cartographer_fetch\r\n\r\nThe only significant difference between my fork and the main cartographer_fetch repo is that I created a launch file (along with a configuration file used in that launch file) to launch the cartographer_ros node for a Fetch robot in simulation, along with Rviz.\r\n\r\nThank you for your help!"}}
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