Mapping with Maxwell

20 Mar 2011 maxwell  arbotix  robots  ros  slam  I've spent a bit of time tuning the PID and cleaning up the control and feedback from the motion system on Maxwell lately. This afternoon I collected a very nice dataset and map of our lab at ILS:


As has been seen before, gmapping "shortened" the hallways (that door at the end of the hallway on the left should be about 2 meters farther down the hallway).