ros-perception/slam_gmapping — pull request #15 by corot (2013-10-23 04:28:00+00:00)
Title: Avoid using outdated laser scans

I have quite bad experiences while using this for mapping, and I found that one of the reasons is because of outdated scans. So I tried reducing the queue for laser scans to one, so unprocessed scans don't accumulate and we always use the latest available.

I added an extra check on how old latest scan is: scan_tolerance parameter. A negative value disables it.

I don't understand deeply how gmapping works, so feel free to discard this pull request if it's misguided or useless.