I am using slam_toolbox on ROS1 noetic with a ydlidar ($70). I’ve tried running slam_toolbox on the robot itself as well as on the remote computer. I am using the asynch online scenario.

It is working but there’s something weird about the map being created.

It is relatively correct but you can see in many places where a wall is doubled, and that corresponds often to a situation where I rotated the robot during mapping.

1. Any immediate idea on what’s going on?
2. Is there any specific guideline about how fast to move the robot during mapping, avoiding going over a specific spot again, etc?
3. Is this expected and should I try offline?

Thanks!