Laser scans rotating with robot while moving robot with teleop
Hello, I am trying to do autonomous navigation with a real robot. Whenever I move the robot or rotate it with teleop, the laser scans move with the robot. I have checked the tf, it is proper still the problem keeps occurring. Can anyone please tell me what could be the reason for it and how to solve it ?
Please edit your description and explain the problem with more detail - it's unclear what you mean by "the laser scans move with the robot". Are you using rviz or the gazebo GUI? What
Fixed Frame
have you selected in rviz? Are you using a map? Does the map move when the robot moves, or is the map fixed in place in the rviz window?Ok sorry, so I am using rviz for visualizing the scans and have selected the fixed frame as odom in rviz. Yes, I want to do mapping but first I wanted to check if the tf is set properly for the robot. So whenever I am moving the robot using teleop, the laser scan walls move along with it which should not be happening right. I have checked the tf tree but do not find any issue in that since everything is shown connected in the tf tree. Also when I ticked the tf option in rviz to see the relation between transform of all frames, I noticed that on doing teleop, there is no relative motion between odom and base_footprint. Later on I went ahead with mapping also and noticed that the map does not move with the robot but when I rotate the robot the map starts getting ...(more)