How to calibrate the car to meet the specification

[ArtlyStyles]

I am wondering if there is any specification on sensors, car odom, etc that we can use to evaluate the status of the car and calibrate the car. I built a MIT racecar but when I ran gmapping in my garage which has simple features, the slam algorithm could not generate a good map. In some cases, It could not match lidar points of the wall after the car turned, even after bundle adjustment or loop closure, whatever it used. The same happened with google cartographer. So I believe it must be because of the car.

[tysik]

Use nav2d (http://wiki.ros.org/nav2d) - gives much better results because it uses graph-based mapping instead of KF.