Good afternoon
I have recently been testing the new maps for the Laser Mapping exercise. I have noticed that there’s a significant odometry error on Small Laser Mapping Warehouse — low odometry noise.
The error occurs when you collide with obstacles, causing the odometry to become out of sync.
I am sending an image showing the result of the runs.
In addition, when the robot moves normally, its blue representation becomes out of sync as well.
Hi @emartint2022 ,
colliding with obstacles makes the odometry/encoders fail, as in the real world (the wheels just slip, the encoders really change their values with the robot not moving form a spot). Just avoid the collisions in your exploration/wandering algorithm 
. You may build your map over GetPose (=ground truth position) and over odometry. The last one is interesting to see how the build map degrades as the noise in the odometry increases.
Cheers,
JoseMaria
