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Flickering of map in rviz (gmapping)

asked 2018-02-13 04:19:03 -0500

rohanmore26 gravatar image

updated 2018-02-13 05:24:13 -0500

link text I am doing navigation on ROS, while in gmapping the map which is published is also flickering. Please check the given link so you will get rough idea. Is there any TF issue?

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answered 2018-02-13 21:58:51 -0500

ahendrix gravatar image

updated 2018-02-13 21:59:07 -0500

It looks like you have multiple nodes publishing conflicting transforms between the odometry and map frames. You should run roswtf and rosrun tf view_frames , and see if either tool complains about multiple publishers for the same transform.

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answered 2020-05-25 09:13:38 -0500

Andreas Z gravatar image

It could be a problem with your gmapping settings. I had the same flickering map and it occasionally relocated the map center in rviz.
For me I solved the problem by tweaking the map update settings especially the map_update_interval and particles. See this post for more info: https://answers.ros.org/question/1154...

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answered 2018-02-13 22:40:21 -0500

updated 2018-02-13 23:01:04 -0500

rosrun tf view_frames

image description image description I am uploading the screenshots of the tf on behalf of @rohanmore26

image description

The wtf command helps a lot , thanks .

roswtf
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This doesn't help; the PDF from rosrun tf view_frames will only show one publisher, even if there are many.

ahendrix gravatar image ahendrix  ( 2018-02-13 22:44:32 -0500 )edit

How do we get a more detailed tf tree ?

chris_sunny gravatar image chris_sunny  ( 2018-02-13 22:51:24 -0500 )edit

Hello @ahendrix the first tf we publish is it correct?. If it is not can you please tell me the issue

rohanmore26 gravatar image rohanmore26  ( 2018-02-13 23:06:53 -0500 )edit

The first TF tree you've posted is complete, but I can't tell from the screenshot whether or not there are multiple publishers. The second TF tree you've posted is incomplete; it lacks the transform from odom to base_link.

ahendrix gravatar image ahendrix  ( 2018-02-13 23:10:16 -0500 )edit

Note that this is not a forum; updates to the question should be made as edits to the question; not as answers.

ahendrix gravatar image ahendrix  ( 2018-02-13 23:11:00 -0500 )edit

Your problem could also be caused by multiple publishers of the transform between odom and base_link; is it possible that you have multiple publishers there?

ahendrix gravatar image ahendrix  ( 2018-02-13 23:12:10 -0500 )edit

I checked there is no multiple publisher between odom and base_link

rohanmore26 gravatar image rohanmore26  ( 2018-02-13 23:59:33 -0500 )edit

You may also want to looking at the raw transform to see if either of them is changing significantly; you can try tf_echo: rosrun tf tf_echo /map /odom and rosrun tf tf_echo /odom /base_link.

ahendrix gravatar image ahendrix  ( 2018-02-14 22:29:13 -0500 )edit

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Asked: 2018-02-13 04:19:03 -0500

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Last updated: May 25 '20