Required Info:

• Operating System:
  • ubuntu 20.04
• ROS2 Version:
  • Foxy
• Version or commit hash:
  • latest binary
• DDS implementation:
  • FASTDDS

Steps to reproduce issue

```

robot bringup in robot machine

ros2 launch ros2_diff_drive-robot_bringup bringup.launch.py

robot visualization in Host machine

ros2 launch ros2_diff_drive_robot_visualization robot_model.launch.py

slam toolbox for mapping

ros2 launch ros2_diff_drive_robot_navigation slam.launch.py ```

Expected behavior

While manually controlling the robot it should map the room as clean as possible and should not jump to a different position

Actual behavior

The map is very noisy as seen in the video. The maps rotate as well with the base_frame which I am not sure it supposed to do it or not. After moving the robot it seems it jumps to a different position which is making the map unusable

1. video with SLAM toolbox - video link
   • Note: Imu topic freezes at some point which has been fixed later using a separate power source for IMU. But this is not causing the main issue.
2. video without slam but only lidar laser scan - video link

Additional information

This is a custom differential robot that has teensy 3.2 as a microcontroller running microros client. The robot has also MPU9250 imu and 2 encoders in both motors. For lidar source, I am using YDLIDAR. As seen in the videos the map shifts while manually moving the robot, which is why I cannot get a clean map. The weird jumps or map shift does not appear in the simulation with the same robot description file. Any help is appreciated.

All the config files and launchers are below:

• ekf config file

  ekf_filter_node:
  ros__parameters:
  frequency: 50.0
  two_d_mode: true
  publish_tf: true
  
  map_frame: map             
  odom_frame: odom            
  base_link_frame: base_footprint
  world_frame: odom 
  transform_time_offset: 0.1
  transform_timeout: 0.1
  
  #x     , y     , z,
  #roll  , pitch , yaw,
  #vx    , vy    , vz,
  #vroll , vpitch, vyaw,
  #ax    , ay    , az
  odom0: odom/unfiltered
  odom0_config: [false, false, false,
                 false, false, false,
                 true, true, false,
                 false, false, true,
                 false, false, false]
  
  imu0: imu/data
  imu0_config: [false, false, false,
                false, false, false,
                false, false, false,
                false, false, true,
                false, false, false]
  

• YDLIDAR config

   ydlidar_ros2_driver_node:
   ros__parameters:
   port: /dev/ydlidar
   frame_id: laser
   ignore_array: ""
   baudrate: 128000
   lidar_type: 1
   device_type: 6
   sample_rate: 5
   abnormal_check_count: 4
   resolution_fixed: true
   reversion: true
   inverted: true
   auto_reconnect: true
   isSingleChannel: false
   intensity: false
   support_motor_dtr: true
   angle_max: 180.0
   angle_min: -180.0
   range_max: 10.0
   range_min: 0.12
   frequency: 5.0
   invalid_range_is_inf: false
   transform_time_offset: 0.1
  transform_timeout: 0.1
  

• bringup.launch.py

   import os
   import yaml
   from ament_index_python.packages import get_package_share_directory
   from launch import LaunchDescription
   from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
   from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression
   from launch.launch_description_sources import PythonLaunchDescriptionSource
   from launch_ros.actions import Node
   from launch_ros.substitutions import FindPackageShare
   from launch.conditions import IfCondition
  
  
   def generate_launch_description():
   sensors_launch_path = PathJoinSubstitution(
    [FindPackageShare('ros2_diff_drive_robot_bringup'), 'launch', 'sensors.launch.py']
    )
  
   joy_launch_path = PathJoinSubstitution(
   [FindPackageShare('ros2_diff_drive_robot_bringup'), 'launch', 'joy_teleop.launch.py']
   )
  
   description_launch_path = PathJoinSubstitution(
  [FindPackageShare('ros2_diff_drive_robot_description'), 'launch', 'description.launch.py']
   )
  
  #ekf_config_path = PathJoinSubstitution(
  #    [FindPackageShare('ros2_diff_drive_robot_bringup'), 'config', 'ekf.yaml']
   #)
  ekf_config_path = os.path.join(get_package_share_directory('ros2_diff_drive_robot_bringup'), 'config/ekf.yaml')
  
  
   # Load the parameters specific to your ComposableNode
   with open(ekf_config_path, 'r ...