Lidar not aligning with the map during rotation

Hello,

When i have linear translation, my lidar points and existing map both align while my robot is moving. But, when there is a rotation. The lidar doesn't align with the map. Initially, I thought that the odometry was at fault here. I took fake odometry data that is close to perfect and the lidar is still rotating and misaligning with the map. I am happy to provide any other information. Thanks in advance!

My tftree: map->odom->baselink->laser

Do I need to add base_footprint somewhere?

Asked by Hemanth on 2020-02-03 01:33:43 UTC

Comments

did you manage to solve this issue?

Asked by Miguel_Arriscado on 2020-02-24 06:13:15 UTC

I have a problem like that . I use rf2o odometry .

Asked by magnetRos on 2022-12-22 03:46:54 UTC

@magnetRos in the future, please don't use the answer section if you are not providing an actual answer. Comments like this one should be added as a comment to the description.

Asked by Mike Scheutzow on 2022-12-24 08:55:03 UTC

Answers

try setting the fix frame to odom frame.

Asked by Davies Ogunsina on 2022-12-22 16:00:58 UTC

Comments

If you're using AMCL, check your params for min rotation required to update odom-map tf via the localization node

Asked by kacaroll on 2022-12-23 01:44:33 UTC

Comments

[This is an old question, but maybe the answer helps someone.]

This laser-scan-misalignment-in-rviz symptom can happen when the map->base_link transform is not accurate. With the transform tree you show, this can be caused by the combination of 2 issues:

your robot's odometry when rotating is poor i.e. the odom->base_link transform is not accurate.
there is a delay in updating the map->odom transform.

You don't say if the mis-alignment corrects itself after the robot stops moving; if it does fix itself, that is probably (2) being updated. Note that If you fix the odometry, then (2) will become a lot less noticable.

I took fake odometry data that is close to perfect and the lidar is still rotating and misaligning with the map

I'm not sure what you mean here, but if true, this implies your map->odom transform is being updated to a wrong value.

Asked by Mike Scheutzow on 2022-12-24 09:14:04 UTC