HI to all,

I am new with ROS. I could ask you some questions about Navigation Stack in particular how it is possible to record obstacles.

I would like to keep track of the obstacles for a mobile robot and to know the distance of the obstacles with respect to a frame fixed to the robot (base_link).

I attach the configuration files.

As you can see from the picture, after just two seconds that I surf with the robot in the environment I noticed that the position of obstacles tends to diverge more and more I do not understand why.

Could you kindly help me?

Best Regards