odometry arrow shifted in rviz

Hello,

I am trying to setup gmapping and I have issues with the map being generated incorrectly. It looks like I have issues in the localization process because of odometry or because of the imu.

So I started by looking at the odometry, and I noticed that when I move the robot the odometry arrow is not placed corectly near the base link.

Here is a video that shows the problem : https://www.dropbox.com/s/apm5jbxregg1jeu/odometry.mov?dl=0

If anybody could help me to determine what's happening, that would be great :)

Also, I never used an IMU, so I don't know if the pink arrow is acting as it should be, so I am taking any advice on this topic too.

Asked by LiohAu on 2016-09-17 07:36:53 UTC

Comments

As seen from the video, I can see that you are using Laser and IMU. The problem may be with the initial position of the sensor or what sensor thinks is the initial position of the sensor. Is there an offset when you spawn the robot and the odom arrow?

Asked by samtod on 2021-10-04 17:37:40 UTC