Pioneer3-Navigation-tf-/odom /map problem
Hello, I have some problems with a rebuild pioneer3-dx. The rebuild is with a construction(nearby 4kg weight and a Sick LMS 200). Right now I use the navigation stack ( AMCL and the Move_Base) and the p2os-stack(dashboard, motor, driver, joystick). While the robot runs with this configuration, the odom frame drifts farther and farther from the map-frame(the odom rotates around the base_link) see Scheme. After 3 rotations it lose its orientation of the map. The problem is when I send the target vectors to move_base_client direct, the zero coordinates change from map(as start point) to odom. At this situation the starting point is now at a new position in the wall. I tried to manipulate the values from navfn and amcl(odom-values) to compress the failure without success. Has anyone knowledge about this problems?? Thanks in anticipate.
What do you men with "the zero coordinates change from map to odom"?
I mean the origin frame, if I start the robot. This pose is at the frame /map. Normally, during the robot is active /odom should have always the same position nearby the /map. But if I use a joystick or the move_base_client ,the frame /odom drift away.