Hello everyone.
I'm using the package to perform some tests of SLAM. I'm currently using a simulation (V-REP) of a mobile robot in a corridor-like featureless environment (only two walls) and I don't get a map. Nevertheless, if I move in a sinewave motion, I'm able to get a map. Moreover, if I have an additional feature, the algorithm even shows the real path as long as this feature is seen (back wall as seen in the right part of the image), otherwise it shows a very weird-looking oscillatory path which does not resemble a sinewave at all. Something important to notice is that when measuring directly in RVIZ, the width of the map is pretty accurate (real=4m, map's=4.014m), and the length of the movement is also somehow accurate (real=15m, map's= 15.47). I'm using the model of the Hokuyo URG-04LX ROS enabled, no odometry, no IMU. I'm running in Ubuntu 14.04 and using ROS Indigo.
![Generated map][1]
I more or less understand how Hector works, but I have no idea about why I'm getting this map and specially trajectory. Could someone help me explaining the scanmatching part of it?
Thank you.
[1]: http://i.stack.imgur.com/NhCbG.png
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