Map -> Odom tf moving causing obstacles in localcostmap to move with robot.

asked 2022-07-13 14:45:48 -0500

marcelomm103 gravatar image

updated 2022-07-14 15:05:49 -0500

Hey you all!

I'm having some troubles with my navigation on ROS2 Galactic using Gazebo Ignition. I'm using EKF to do the Map -> Odom transform and i'm having a estrange behaviour with it, if i do the transform with AMCL it's ok, but using the EKF for localization and the tf gives me the trouble that the obstacles are moving together with the local costmap as it moves. I already changed the global frame to map from odom on my local costmap but no changes. Does anybody knows why this is happening? Video link:

If someone need's more info on it as yaml or launch files ill be glad to share it. Thank you for your time!

EDIT1: I noticed that my map -> odom tf is not static, it moves a little bit and i think thats causing the offset on the localcostmap, you cant see it on the video but it goes forward as the robot goes. Does anyone know how i can correct that ?

EDIT2: i managed to get it working by taking off my odom measured from the simulation, so i'm using imu, magnetomer, gps and amcl_pose, but my map -> odom still drifts away sometimes, still dont know why. Maybe something with the ekf filter diverging? So i need to tune it better my covariance matrices?

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