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Odom TF goes Wrong

asked 2020-08-11 04:04:20 -0500

bfdmetu gravatar image

I try to make a diferential drive robot. When i try to navigate it , i get something wrong. I guess odom tf goes wrong.

I drive my robot forward direction. However my odom tf goes backward? What should happen the odom tf, when i drive forward direction ? Should odom tf stick the robot (base_footprint ) , should it stay with with map tf on initial position.

What is responsible for that ?

Tf or odom calculation or odom tf publishing ? First picture shows initial condition. Base_footprin base_link and odom have same position. In second picture robot moves forward so base_link and base_footpring goes forward but odom goes backward

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answered 2020-08-11 04:15:41 -0500

pcoenen gravatar image

The odom frame stays more or less put. The slight drift you're seeing should come from your robot localization, which publishes a correction between the odom and map frames.

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Is there any error or everything is fine ? In navigation should we publish any static tf between frames? (odom base_footprint, map odom , or anything else? ) In my tf tree only base_link and base_foot print connected with static tf

My robot are being lost everytime in navigation. There is a mistake but i can not find where it is.

bfdmetu gravatar image bfdmetu  ( 2020-08-11 05:57:03 -0500 )edit

Only use static tfs for stuff thats actually fixed, ie base_link and base_footprint. There is no error. Your robot will move continuous in relation to your odom frame. If your localization notices wheel slip by matching the robots surroundings to the map it will apply the correction the map->odom transform.

pcoenen gravatar image pcoenen  ( 2020-08-11 06:40:35 -0500 )edit

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Asked: 2020-08-11 04:04:20 -0500

Seen: 145 times

Last updated: Aug 11 '20