Lidar not aligning with the map during rotation

asked 2020-02-03 00:33:43 -0500

Hemanth gravatar image


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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did you manage to solve this issue?

Miguel_Arriscado gravatar image Miguel_Arriscado  ( 2020-02-24 05:13:15 -0500 )edit