Problem with hector autonomous navigation - The robot does not follow the path (Video)

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Hello,

I am new to hector_navigation and I am trying to implement autonomous exploration with my 3 wheel robot with a lidar on, using the hector's metapackages.

I ran the following:

1. Spawn my robot in a custom maze in gazebo

2. Roslaunch the robot_state_publisher

3. Rosrun the tf_broadacaster_from_base_link_to_map --> I wrote this node.

4. Roslaunch hector_mapping mapping_default.launch

5. Roslaunch hector_exploration_node exploration_planner.launch

6. Rosrun hector_exploraon_controller simple_exploration_controller

7. Rviz -->

                           1. display the exploration_path generated.
                           2. display the /hector_exploration_node/global_costmap/costmap map
                           3. display the /hector_exploration_node/global_costmap/footprint polygon
                           4. display /slam_out_pose pose
                           5. display the RobotModel
   

The robot's orientation and position in gazebo was in perfect coordination with the /slam_out_pose and not with the RobotModel and the /hector_exploration_node/global_costmap/footprint polygon.

The result I got can be seen in this video and now I am confused on what is wrong. I got no errors or warnings from the nodes I ran. Only info about the paths generated and some goals that the robot reached.

Do you have any idea what is the cause of this wrong behavior ?

In case you would like more info about what I did, please comment so I will reedit my question.

Thank you for your time and your answers in advance,

Chris