# FUNMAP on Noetic **URL:** \ **Category:** Ask\ **Created:** [September 23, 2021, 11:01pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302 "2021-09-23T23:01:11Z")\ **Posts on this page:** 9\ **Page:** 1
**Author:** ![smth](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/smth/32/94_2.png) [@smth](https://forum.hello-robot.com/u/smth)\ **Post date:** [September 23, 2021, 11:01pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/1 "2021-09-23T23:01:11Z")
Does anyone know if FUNMAP in a good working state on Noetic? I’m using the [dev/noetic branch](https://github.com/hello-robot/stretch_ros/tree/dev/noetic/stretch_funmap) I’m seeing a bunch of errors, so before I dig in and start filing issues, I wanted to ask here. ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [September 24, 2021, 12:40am UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/2 "2021-09-24T00:40:23Z")
Hi @smth, FUNMAP should work fine with Noetic on the [dev/noetic](https://github.com/hello-robot/stretch_ros/tree/dev/noetic) branch. Would you mind posting a log of the errors you see when running FUNMAP. I’d be happy to look into the issues you’re seeing. ---
**Author:** ![smth](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/smth/32/94_2.png) [@smth](https://forum.hello-robot.com/u/smth)\ **Post date:** [September 24, 2021, 1:33am UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/3 "2021-09-24T01:33:38Z")
There were a few other issues, that I think I got over just by upgrading (and then putting the realsense downgrade patch), including upgrading `stretch_body` and upgrading the latest apt updates. The main issue now, seems to be that, after the first scan, the robot refuses to go anywhere further. I tried two things: 1. I give the “2D Nav Goal” command in the UI, with points nearby the robot with clear line of sight / no obstacles 2. I press the `\` key so that it goes and does further scans. Neither seems to help, and instead in both cases, it shows an error in the console `message: "Unable to find a path to the new head scan location."` Here’s what RViz looks like after the first scan. ![Screen Shot 2021-09-23 at 9.17.40 PM](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/b15eca0b1d4b23b9ae17e70245232e47bb760345.jpeg) Here are the logs: [rosout.log · GitHub](https://gist.github.com/soumith/ac00823b64bbbfce5010722576dfe712) ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [September 28, 2021, 8:18am UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/4 "2021-09-28T08:18:57Z")
Hi @smth, there are phantom points (yellow below) being included in the scan. It seems that they come from the robot including part of its own base in the scan. These points act as obstacles, preventing the robot from being able to find a valid path. ![zoomedin](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/b8bc64bed21d2fb4d8d464e3116f14d3b29a46f5.jpeg) We’re able to replicate the issue internally, and I’m investigating fixes for the issue. Would you be able to perform a check of your current calibration by following these [four commands in Stretch Calibration’s README](https://github.com/hello-robot/stretch_ros/tree/master/stretch_calibration#checking-the-current-calibration-with-new-observations), and report the total error you receive? ---
**Author:** ![smth](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/smth/32/94_2.png) [@smth](https://forum.hello-robot.com/u/smth)\ **Post date:** [October 1, 2021, 3:13pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/5 "2021-10-01T15:13:03Z")
The fit error is high, but not high-enough to hit the 0.05 threshold: ```auto total_error = 0.03806170965635635 [WARN] [1633101126.695582]: The fit error is high: 0.03806170965635635 > 0.03 (fit_error > fit_warning_threshold) ``` ---
**Author:** ![smth](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/smth/32/94_2.png) [@smth](https://forum.hello-robot.com/u/smth)\ **Post date:** [October 1, 2021, 4:12pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/6 "2021-10-01T16:12:26Z")
I re-calibrated the robot from scratch, and with the new calibration, the phantom points are gone, and the robot is navigating correctly ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [October 1, 2021, 4:52pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/7 "2021-10-01T16:52:54Z")
Awesome! Glad to hear it. ---
**Author:** ![Humberto\_Andres\_Hida](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/humberto_andres_hida/32/524_2.png) [@Humberto\_Andres\_Hida](https://forum.hello-robot.com/u/Humberto_Andres_Hida)\ **Post date:** [January 18, 2024, 4:37pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/8 "2024-01-18T16:37:41Z")
I have the same problem with the FUNMAP navigation, but in my case i already re-calibrated the robot (because I noticed that the robot had a error in the calibration of 0,13…) and I still have that same problem. ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [January 19, 2024, 5:25pm UTC](https://forum.hello-robot.com/t/funmap-on-noetic/302/9 "2024-01-19T17:25:43Z")
Hi @Humberto_Andres_Hida, would you mind opening a new thread to discuss this?