Frames are moving away from global frame

asked 2023-04-26 05:44:30 -0500

angkts gravatar image

updated 2023-04-27 16:02:15 -0500

Andromeda gravatar image

Hi everyone,

I am using Hector-Slam and AMCL without IMU sensor. At the beginning (when I pressed to 2D estimate) all frames are working. But after I selected 2D Nav. goal just scanmatcher_frame is moving, the other frames (scanmatch_odom, base_link and laser) are moving away from map frame. Sometimes they act foolishly, so my move_base is missed up.

Hector-SLAM Frames:

<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="base_link"/>

<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />


<node pkg="amcl" type="amcl" name="amcl">
        <param name="tf_broadcast" value="true" />
        <param name="base_frame_id" value="/base_link" />
        <param name="global_frame_id" value="map" />
        <param name="odom_frame_id" value="scanmatch_odom" />
        <param name="use_map_topic" value="false" />

  global_frame: /map
  robot_base_frame: base_link


  global_frame: scanmatch_odom
  robot_base_frame: base_link


map -> scanmatcher_frame (/hector_mapping)
map -> scanmatch_odom (/amcl) -> base_link (/odomtransformer) -> laser (static- transform /link_to_laser_bc)

I have two subscriber from map frame. Please help me.

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