Odometry and Map Frame are out of sync

asked 2022-02-23 00:42:27 -0500

distro gravatar image

updated 2022-02-23 00:44:19 -0500

My real life robots odom frame does not match that of the map. I have investigated the issue and dicovered a discepancy in what the rviz is telling me and what the rostopic echo /odom is telling me. Here is a picture below to show my finding.

RVIZ and rostopic echo.

As seen above, rostopic echo /odom shows the odometry information from the child frame_id: base_footprint. The TF data in the RViZ shows "child frame id: basefoot_print" info too, but the pose info is completely different. why is this? What have I done wrong? I have a suspicion that its because of this: Error wheel.dae. There is a file I have to launch to run rviz, but it gives an error about a "wheel.dae" file. From my limited understanding, I think .dae files are used in graphic simulation work like for gazebo and rviz such. I didnt pay this error any mind because everything semeed to run smoothly without it. Is my transformation problem quite literally a result of this one error?

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