Revision history [back]

when looking at their output in the map frame I am supposed to see a drift between them but they are still the same

That's not necessarily true. rviz is using the map->odom transform too, so if you visualize your odom-frame data in the map frame, it will line up perfectly with the map-frame data. This is a sign that the map->odom transform is correct.

In other words, rviz transforms the nav_msgs/Odometry messages to rviz's "Fixed Frame" before it displays it. You therefore won't be able to see drift between your two state estimates without a tool for plotting raw data. I would try something like PlotJuggler. If they still line up when you use that tool, let me know.