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SLAM

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Slam Troubleshooting#

Map blurs or smears while the robot moves#

The scan-to-map alignment is degrading. This is almost always an odometry accuracy problem:

  • Verify wheel encoder counts and CPR calibration in micipsa_core
  • Check EKF covariance values in micipsa_localization

SLAM and AMCL both running TF conflicts#

AMCL and SLAM Toolbox both broadcast map → odom. Running them simultaneously causes TF conflicts.

Caution

Only one node may publish map → odom at a time. Use the localization_mode launch argument in micipsa_bringup to switch between SLAM and AMCL, never run both together.