I successfully converted 2D point clouds using “pointcloud_to_laserscan” package, but was unable to use slam_toolbox for mapping。

[kafei123456]

slam_toolbox map like that. it only has the map of the first frame.

[HuLixiaNick531]

hi i also encountered this issue. Did you figure out the solution?

[vidneu]

For me it was setting odom_scaler to 4.25 in the gait.yaml, that solved it.

[HuLixiaNick531]

@vidneu thanks a lot. I do fixed my navigation code after changing this parameter.