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In the file: openslam_gmapping/utils/stat.cpp
the generator uses drand48 as the seed is been set with srand, it should be srand48. The way it is, the seed is never set.

in this function ,to caculate pfree,there are
double freeDelta=map.getDelta()*m_freeCellRatio;and
pfree.x+=(*r-map.getDelta()*freeDelta)*cos(lp.theta+*angle); pfree.y+=(*r-map.getDelta()*freeDelta)*sin(lp.theta+*angle);;
obviously r - delta^2sqrt(2) (freeDelta = sqrt(2))
i think r - deltasqart(2) can show the range of pfree ,but the equation above i don't know its mean.

hi there,

I'm using ros hydro and after I install the package (using a catking ws and catkin_make, because rosmake doesn't find the package) and tried to run it, it does not apear to be installed. Should I use ros groovy instead? The way i'm doing it is wrong? Any suggestions?

Greatings

I am running slam_gampping to map an area and have noticed a small but increasing memory leak in openslam_gmapping
Valgrind output with sample of memory leak after running 5-10 minutes:
==402070==
==402070== 3,720 (744 direct, 2,976 indirect) bytes in 31 blocks are definitely lost in loss record 1,086 of 1,119
==402070== at 0x483C583: operator new[](unsigned long) (in /usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==402070== by 0x102E4F7C: GMapping::Array2D<GMapping::autoptr<GMapping::Array2D<GMapping::PointAccumulator, false> >, false>::Array2D(int, int) (in /opt/robotics/incubed-ros-pkg/lib/libslam_gmapping_nodelet.so)
==402070== by 0x10349192: GMapping::HierarchicalArray2DGMapping::PointAccumulator::HierarchicalArray2D(GMapping::HierarchicalArray2DGMapping::PointAccumulator const&) (in /opt/ros/noetic/lib/libgridfastslam.so)
==402070== by 0x1034AA7B: void std::vector<GMapping::GridSlamProcessor::Particle, std::allocatorGMapping::GridSlamProcessor::Particle >::_M_realloc_insertGMapping::GridSlamProcessor::Particle(__gnu_cxx::normal_iterator<GMapping::GridSlamProcessor::Particle*, std::vector<GMapping::GridSlamProcessor::Particle, std::allocatorGMapping::GridSlamProcessor::Particle > >, GMapping::GridSlamProcessor::Particle&&) (in /opt/ros/noetic/lib/libgridfastslam.so)
==402070== by 0x10348023: GMapping::GridSlamProcessor::init(unsigned int, double, double, double, double, double, GMapping::orientedpoint<double, double>) (in /opt/ros/noetic/lib/libgridfastslam.so)
==402070== by 0x102CA945: SlamGMapping::initMapper(sensor_msgs::LaserScan<std::allocator > const&) (in /opt/robotics/incubed-ros-pkg/lib/libslam_gmapping_nodelet.so)
==402070== by 0x102CF888: SlamGMapping::laserCallback(boost::shared_ptr<sensor_msgs::LaserScan<std::allocator > const> const&) (in /opt/robotics/incubed-ros-pkg/lib/libslam_gmapping_nodelet.so)
==402070==
==402070== LEAK SUMMARY:
==402070== definitely lost: 2,376 bytes in 94 blocks
==402070== indirectly lost: 11,696 bytes in 277 blocks
==402070== possibly lost: 4,496 bytes in 15 blocks
==402070== still reachable: 12,037,790 bytes in 4,503 blocks
==402070== of which reachable via heuristic:
==402070== stdstring : 71 bytes in 1 blocks
==402070== newarray : 776 bytes in 1 blocks
==402070== suppressed: 0 bytes in 0 blocks

Valgrind summary output after 2+ hours:

==551222==
==551222== LEAK SUMMARY:
==551222== definitely lost: 141,136 bytes in 3,187 blocks
==551222== indirectly lost: 4,014,392 bytes in 6,925 blocks
==551222== possibly lost: 4,560 bytes in 15 blocks
==551222== still reachable: 11,984,536 bytes in 4,005 blocks
==551222== of which reachable via heuristic:
==551222== newarray : 776 bytes in 1 blocks
==551222== suppressed: 0 bytes in 0 blocks

I have tracked down the memory leaks as coming from GMapping::Array2d and another in the lack of delete of GMapping::TNode::reading

inline double ScanMatcher::score(const ScanMatcherMap& map, const OrientedPoint& p, const double* readings) const{
        .......
	double freeDelta=map.getDelta()*m_freeCellRatio;
	for (const double* r=readings+m_initialBeamsSkip; r<readings+m_laserBeams; r++, angle++){
		IntPoint ipfree=map.world2map(pfree);
		for (int xx=-m_kernelSize; xx<=m_kernelSize; xx++)
		for (int yy=-m_kernelSize; yy<=m_kernelSize; yy++){
			IntPoint pr=iphit+IntPoint(xx,yy);
			IntPoint pf=pr+ipfree;
	                .......
			//}
		}
	}
}

the line "IntPoint ipfree=map.world2map(pfree);" exist bug, it cannot calculate relative grid position.

IntPoint Map<Cell,Storage,isClass>::world2map(const Point& p) const
{
	return IntPoint( (int)round((p.x-m_center.x)/m_delta)+m_sizeX2, (int)round((p.y-m_center.y)/m_delta)+m_sizeY2);
}

assume pfree = (0.1, 0.1), m_center=(0,0),m_delta = 0.05, m_sizeX2 = 200,m_sizeY2=200,then calculate ipfree=(202,202)
so in function "socre", the distance between pr and pf is about ipfree=(202,202),it isn't right,so do in the function "likelihoodAndScore".

Hi there,

I'm trying to compile openslam_gmapping package to build ros node for gmapping, because i want to modify the code. I download it from (https://github.com/ros-perception/openslam_gmapping). And using catkin_make to compile this package. This runs successfully, but it does not generate any executable files but some share objects(libgridfastslam.so,libscanmatcher.so... in devel/lib).
I read the cmakelists.txt. it seems not command to add executable file.
"""
cmake_minimum_required(VERSION 2.8)
project(openslam_gmapping)

find_package(catkin)

catkin_package(
INCLUDE_DIRS include
LIBRARIES gridfastslam scanmatcher sensor_base sensor_range sensor_odometry utils
)

include_directories(include)

add_subdirectory(gridfastslam)
add_subdirectory(scanmatcher)
add_subdirectory(sensor)
add_subdirectory(utils)

install(DIRECTORY include/
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN ".h"
PATTERN ".hxx"
PATTERN ".svn" EXCLUDE
)
"""

Do I need to modify cmakelists? I just want to build a gmapping node from source so i could using it just like 'rosrun gmapping slam_gmapping'. What Shoud I do? Is there any way to build gmapping ros node from source?

My environment:
ubuntu12.04-hydro.
I already source the setup.bash of my catkin workspace.
I just download the code and do catkin-make and there is no executable file in devel and i try to run 'rosrun openslam ', there is nothing in second argument when i using tab.

Please help me. Thanks.

is there are same the source code? (in here git source & ros-kinetic-openslam )
I learn about openslam gmapping and check the operation (iteration) loop time both of them.
that's why there operation loop time is difference.
It would see something difference...
Now I checking about parameter setting... but I do not know yet what is there difference.

In commit a91e670 the license was changed from CreativeCommons-by-nc-sa-2.0

https://github.com/ros-perception/openslam_gmapping/blob/master/package.xml#L6

to BSD

a91e670#diff-34ae68f4adad56c25c5bc05dcb64794eR8

Which seems like a mistake. Should this be reverted?

In particle filter.h there's the following code snippet:

It seems that there might be a bug in map.h, as reported by @dpinol in ros-perception/slam_gmapping#10

Is this planned?

This package blocks e.g. Turtlebot release turtlebot/turtlebot#272

Would you mind releasing openslam_gmapping to ROS Noetic? It looks like all of its dependencies have been released, and recursively 14 repos need it.

I'm not sure how much work it will need. The Noetic Migration Guide or the guide about transitioning ROS packages to Python 3 may be useful.

As far as i am concerned, Array2D functions the same and can achieve better performance.

Please update all the headers
see gentoo/gentoo#20022

In include/gmapping/grid/map.h ,
m_center is updated in every constructor of Map class.
But m_center not changes in "resize"
(I just guess center should be changed after map resize)

Why??
Please tell me .........

Please release this package for Lunar!