Troubleshooting

General hints and best practices

Visualize Transforms

Monitor CPU load

Various steps during the mapping process can become very time consuming. Should the mapper fail to process incoming scans in the time they arrive, it can fall behind and cause distorted maps. Check the following points to reduce system load.

• Add fewer scans to the graph (increase min_distance and/or min_rotation).
• Reduce scan_resolution to save memory and reduce time to build map.
• Reduce map_publish_rate to limit how often a new map is generated, set it to 0 to not generate maps at all.
• See section on ICP parameters on how to improve scan matching performance.

Check Log messages

The slam3d library creates many log messages, which are written to a file or to the frameworks usual log channels.