pose array(particle cloud) and robot dont sync ,
,always in wrong position
Whenever I try to localise robot using 2d pose estimate,the particle clouds always face 90 degree to robot The video for reference is here
[THE LINK]
(https://drive.google.com/file/d/1s4qF...)
EDIT - 1 TF FRAME
EDIT - 2
EDIT-3 
EDIT -4 Solution
The front of robot when we create it with urdf should be aligned to the x- axis of the environment so that when you localise the robot the pose array direction aligns with front direction of the robot (i.e , pose array overlaps with x axis of robot).In my case, I faultly aligned robot's front to y-axis . So if I localise the robot with 2d pose estimate the robot will always be aligned at 90 deg to pose array ( since angle between x and y axis is 90 deg) *if things are not clarified fo you feel free to comment *
Have you tried localizing from
launchfile instead?. Do you get the same error? In that case it maybe a problem with your transforms.How it can be done?
Take a look at this tutorial on how to create a launch file for this case: https://kapernikov.com/the-ros-robot_...
Can you show the output:
@osilva thanks for stopping by and reading my question.
please go through link i pasted in EDIT-1 for my TF
@osilva thanks for the link it did give me some extra boost to my knowledge but, I want to know about particle cloud in Rviz which always points at 90 deg to my robot
It could be that hoyuko spawned incorrectly or transforms are offset. Reason I initially asked if you see same behaviour when using launch file is that you can see more details like the pose.
thank you so much.So did you suspect something wrong in my tf tree? If there is something wrong with tf then how can I debug it any idea @osilva
Your tf tree looks ok no broken links but it doesn’t give you the transforms in terms of translation or rotation for that you need to get into more details. Pls check this tutorial for debugging tf issues: http://wiki.ros.org/tf/Debugging%20tools