Why TF2 transform affects odometry accuracy but Tf transform does not

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Good Day all,

I have a 3 wheel omni-wheel triangular robot with an RPlidar that I am trying to set up navigation. However, I am seeing a weird issue..... I recently changed my tf publisher which publishes my base to laser transform to a TF2 static publisher using "static_transform_publisher x y z yaw pitch roll frame_id child_frame_id" (because TF is depreciated).

BUT when I use the TF2 static publisher, my odometry is terrible ( here I use teleop, driving the robot straing forward for 1 meters in a corridor at .2m/s and observe very bad rotational drift).However if I use regular TF amd create a publisher as you see in my code below.. and drive the robot forward in the corridor for 1 meter at the same speed the odometery looks good showing only little rotational drift..

See here https://drive.google.com/folderview?i...

Any Idea why?

TF Publisher :

/////////////////////////////////////////////////////////

int main(int argc, char** argv){ ros::init(argc, argv, "robot_tf_publisher"); ros::NodeHandle n;

ros::Rate r(100);

tf::TransformBroadcaster broadcaster;

while(n.ok()){ broadcaster.sendTransform( tf::StampedTransform( tf::Transform(tf::Quaternion(0, 0, 1.57, 1.571), tf::Vector3(0.0, 0.025, 0.2)), ros::Time::now(),"base_link", "base_laser")); r.sleep(); }

TF2 Static Transform :

///////////////////////////////////////////////////////////////

node pkg="tf2_ros" type="static_transform_publisher" name="omnisTF" args="0 0.025 0.2 1.571 0 0 base_link base_laser"