Lidar not aligning with the map during rotation

asked 2020-02-03 00:33:43 -0600

Hemanth
13 ●6 ●8 ●11

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 tf_tree: map->odom->base_link->laser

Do I need to add base_footprint somewhere?

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Comments

did you manage to solve this issue?

Miguel_Arriscado ( 2020-02-24 05:13:15 -0600 )edit

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

magnetRos ( 2022-12-22 02:46:54 -0600 )edit

@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.

Mike Scheutzow ( 2022-12-24 07:55:03 -0600 )edit

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answered 2022-12-24 08:14:04 -0600

Mike Scheutzow
4918 ●2 ●430 ●45

updated 2022-12-24 08:24:30 -0600

[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.