gmapping doesn't take /tf as ground truth while building the map?

asked 2019-05-13 17:38:22 -0500

xj yang gravatar image

Hello, I am using gmapping to build laser scan map here, while I found out that the communication between /slam_gmapping and /tf is bilateral: image description

Test gmapping on the bagfile, I extract the base_link position of tf-tree relative to map, and end up with the trajectory comparison as below. In gmapping case, the position of base_link starts getting more and more random after the first few seconds.

image description

therefore it could be expected that the final map is totally messed up image description

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