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Hi, very interesting to see the problem working so well with the XV-11, thanks for raising awareness of that :)

The fact that the map looks consistent clearly suggests that the internal state of the mapping system does not jump in as shown in your screenshots. It is thus very likely that your tf setup is messed up in some way (the trajectory server uses tf for generating the path displayed). You most likely have both hector_mapping generating a map->base_link transform as well as some other node doing the same (AMCL would be a candidate for example). When the trajectory server queries tf for transform data based on a timer, it more or less randomly gets one or the other, resulting in this jagged path. That at least is the most probable cause I see from looking at what you posted.

Hi, very interesting to see the problem things working so well with the XV-11, thanks for raising awareness of that :)

The fact that the map looks consistent clearly suggests that the internal state of the mapping system does not jump in as shown in your screenshots. It is thus very likely that your tf setup is messed up in some way (the trajectory server uses tf for generating the path displayed). You most likely have both hector_mapping generating a map->base_link transform as well as some other node doing the same (AMCL would be a candidate for example). When the trajectory server queries tf for transform data based on a timer, it more or less randomly gets one or the other, resulting in this jagged path. That at least is the most probable cause I see from looking at what you posted.