SearchDir angle change too large about hector_slam HOT 4 CLOSED

I had the same problem with a hokuyo URG-04LX and after searching in the net, i found that the problem is from laser scanner. When i changed the scanner with hokuyo UST-10, the problem disappered.

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I solved this problem with 3 levels of maps, highest resolution 0.03m, which works perfectly

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Below is the code in hector mapping. When searchDir variable is above 0.2, it gives that output. Someone who know what that variable means may help.
can you try decreasing the frequency of your LaserScan topic? There may be a threshold of angle which may happen between consecutive scans. Or try increasing scan queue size?

bool estimateTransformationLogLh(Eigen::Vector3f& estimate, ConcreteOccGridMapUtil& gridMapUtil, const DataContainer& dataPoints)
  {
    gridMapUtil.getCompleteHessianDerivs(estimate, dataPoints, H, dTr);
    //std::cout << "\nH\n" << H  << "\n";
    //std::cout << "\ndTr\n" << dTr  << "\n";


    if ((H(0, 0) != 0.0f) && (H(1, 1) != 0.0f)) {


      //H += Eigen::Matrix3f::Identity() * 1.0f;
      Eigen::Vector3f searchDir (H.inverse() * dTr);

      //std::cout << "\nsearchdir\n" << searchDir  << "\n";

      if (searchDir[2] > 0.2f) {
        searchDir[2] = 0.2f;
        std::cout << "SearchDir angle change too large\n";
      } else if (searchDir[2] < -0.2f) {
        searchDir[2] = -0.2f;
        std::cout << "SearchDir angle change too large\n";
      }

      updateEstimatedPose(estimate, searchDir);
      return true;
    }
    return false;
  }

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This output generally indicates that the scan match estimate has a unusually high angular offset from the prior pose estimate. Moving the sensor slower or feeding higher scan update rates help to mitigate the problem.

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