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Anybody know what might be causing my laser readings to behave like this? [video]

https://youtu.be/vQJC-mlnRKY

In the video I move the robot, and the laser readings seem to move along with the robot, when in fact they should be more stationary. I then increase the delay on the /scan topic, and I get a really thick wall, in the direction in which the robot is moving.

Any idea what might cause it? It seems that algorithms like gmapping are producing a pretty decent map.

I did a tf view_frame, and the tf's are all publishing at about 5hz, the robot is defined in a urdf.

Thank you in advance!

Anybody know what might be causing my laser readings to behave like this? [video]

https://youtu.be/vQJC-mlnRKY

In the video I move the robot, and the laser readings seem to move along with the robot, when in fact they should be more stationary. I then increase the delay on the /scan topic, and I get a really thick wall, in the direction in which the robot is moving.

Any idea what might cause it? It seems that algorithms like gmapping are producing a pretty decent map.

I did a tf view_frame, and the tf's are all publishing at about 5hz, the robot is defined in a urdf.

Thank you in advance!

Here is the tf_view file, the laser scan comes from veldyne: C:\fakepath\frames.png

Anybody know what might be causing my laser readings to behave like this? [video]

https://youtu.be/vQJC-mlnRKY

In the video I move the robot, and the laser readings seem to move along with the robot, when in fact they should be more stationary. I then increase the delay on the /scan topic, and I get a really thick wall, in the direction in which the robot is moving.

Any idea what might cause it? It seems that algorithms like gmapping are producing a pretty decent map.

I did a tf view_frame, and the tf's are all publishing at about 5hz, the robot is defined in a urdf.

Thank you in advance!

Here is the tf_view file, the laser scan comes from veldyne: C:\fakepath\frames.pngC:\fakepath\frames.png