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I'm using AMCL and it does a good job of estimating my position and accounting for drift, looking at the particles cloud. The odometry is periodically updated from AMCL but then reverts back to the drifted solution. Am I supposed to subscribe to amcl_pose and update my odometry node? or something else?
Ah okay, then this is the problem. You have to remove this static transform from map -> odom, because this will be provided by amcl. If two nodes publish the same transformation, you get this "jumping" behaviour between your amcl and the static transform.
Asked: 2014-09-09 22:56:58 -0500
Seen: 911 times
Last updated: Sep 11 '14
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amcl_pose should contain the robots position in the map. So you have to subscribe to this or to tf and get the 'map' -> 'robot' transform. What do you mean with updating the odometry node?
My odometry node publishes a transform from base_link to odom, which is still being updated from the drifted odometry. It also publishes a static transform from odom to map.