Odometry reset is needed for long-term 2D mapping that integrates the maps from individual patrol runs.
Since the gmapping uses the odometry pose as an initial position when creating a map, the initial odometry position should be the same, e.g. zero. Otherwise the systematic odometry error, that is caused by wrong configuration of the wheel base, causes the maps to have a different origin and rotation. Misalignment of the individual maps makes their merging difficult.
Odometry reset is needed for long-term 2D mapping that integrates the maps from individual patrol runs.
Since the gmapping uses the odometry pose as an initial position when creating a map, the initial odometry position should be the same, e.g. zero. Otherwise the systematic odometry error, that is caused by wrong configuration of the wheel base, causes the maps to have a different origin and rotation. Misalignment of the individual maps makes their merging difficult.