Stretch Simulation: SLAM bug list

[hello-robot-shehab]

This is a list of bugs that we're aware of doing SLAM in ROS2 Stretch Simulation:

• When mapping open maps (e.g. maps with no walls or partial walls), localization seems to fail. Steps to reproduce: 1. Start the open world or any 3-walled robocasa scene 2. Do mapping 3. Notice that closed rooms map really well. When the robot steps into areas with inf distance, the map starts jittering and mapping breaks.
• Reloading the mapped scene sometimes results in a "Cost Map is out of map bounds" error in RViz. Steps to reproduce: 1. Do Mapping 2. Load the map 3. Random behavior: sometimes it's fine, sometimes the robot and costmap are spawned outside the map in RViz.