How I make my map don't move?

asked 2019-04-09 12:57:42 -0500

magole gravatar image

updated 2019-04-09 12:59:09 -0500

Hi, I have a modified workspace I got on github with some packages to do gmapping and amcl with a urdf robot. Well it's all fine until I run amcl and I make my robot move, then the map can't stand being static so it's moving all the time along the robot movements.

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I have already seen tutorials about that and I had seen the map is static in the videos. When I run the amcl it opens rviz and gazebo and with it the urdf description that publish the /scan topic, so I suppose the problem is because of the continuous scanning that updates the robot position within the map. May I be wrong and I'm not understanding it at all, anyone can tell me what's going on please?

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What is the fixed frame in RViz?

kosmastsk gravatar image kosmastsk  ( 2019-04-09 15:17:02 -0500 )edit

Is Odom and it is placed in the bottom left corner of the map. I have played with the fixed frame too, if I'm not wrong when the fixed frame is the /map topic the map stays static sure but the problem appears with the robot this time doing jumps back and forward

magole gravatar image magole  ( 2019-04-09 16:13:36 -0500 )edit

That's exactly why the map is moving, if the fixed frame is odom is totally normal, as it is moving as the odom is changing. I would suggest you to change the fixed frame to "/map" and try to configure gmapping and amcl to work better, so that you do not have the jumps

kosmastsk gravatar image kosmastsk  ( 2019-04-09 16:16:41 -0500 )edit

Great to know that, ok I'll try it then. Any suggestions, or info I could read, to make the amcl or the gmapping work better? Thank you so much!

magole gravatar image magole  ( 2019-04-09 16:23:20 -0500 )edit

You need to change your RVIZ fixed frame to MAP. If there are then more issues, they are separate issues. You haven't fixed anything by changing frame to ODOM, you've only made it harder to see the issue. Go back to MAP and start troubleshooting the real issue (which sounds like an ODOM issue).

billy gravatar image billy  ( 2019-04-09 21:00:24 -0500 )edit