Hello, if I move my drone at a static position and I rotate it in the yaw angle, the system is thinking the drone is moving and he sets it to a new position. But the position is still the same, just the angle is changed. I am using PTAM for a localization and RVIZ for visualize the changes of the drone movements. At RVIZ the map is initialized with "world" and i get transformations by ptam_visualizer.

ROS Indigo Ubuntu 14.04