Footprint not showing correctly

asked 2022-09-23 07:08:06 -0600

Heqas gravatar image

updated 2022-09-24 00:55:44 -0600

Hey guys I'm trying to create a navigation stack for my AGV. I have got a problem with changing the footprint when I change the estimate pose. I don't know why but the position of platform is changing every sec. Once its staying in basic position and next it move to the estimate position but it never stays at it.

I think the problem may be with connections of topics in my algorithm. Here is the rqt_graph image description

And here it tf tree image description

Thank for all the help in advance

EDIT 1 Pictures from rviz

STARTING POSITION OF AGV image description

POSE ESTIMATE image description

CHANGED POSITION image description

Starting ans changed position are switching every second

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Comments

When you say 'footprint', are you referring to the tf transform base_footprint or the projection of the AGV to the floor (defined as a polygon)? What is 'basic position'?

When you're using an estimation node like ekf, which estimates the position of the robot continuously using the information it's getting from the laser and odometry, it will publish an update that may change as the data changes. So you should expect a robot to jump around a little bit even if your localization node is tuned well. Can you quantify just how much it is changing?

I don't think the issue is with the connections of your topics.

achille gravatar image achille  ( 2022-09-23 15:45:42 -0600 )edit

By footprint I mean the projection of AGV on the floor. The changes of the robot position are not in mm they are in cm. In post I added pictures how far are each positions. Maybe I have got some problem with odometry.

Heqas gravatar image Heqas  ( 2022-09-24 00:56:53 -0600 )edit
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