Some problems of TF and navigation

[Kevin33173]

Hello, I’ve got some problems when I running R-tabmap in navigation
1. I found that TF is strange, map and odom was rotate 90 degree from base_link,  that you can see in the pic.1.
    Pic.1


I checked my tf_tree，it seems work, and tf data were keep sending data.
 

2. I used the Hokuyo lidar and D435i depth camera to do odometry, and I had odom data can send by serial_node, but I can’t understand that how the setting of toturials.

I try to let all data combine like pic.2, but it get wrong TF in pic.3.
 pic.2

 pic.3

Blue arrow is nav_msg/odometry, and red one is icp_odometry data, they are in the different TF.
3. When I run in navigation mode, my robot moved very strange, when base_link moved, odom wasn’t moving. Also, when base_link turn around in one point, it moved in strange way in pic.4, it turned in a strange radius that the center of circle is not base_link.
 pic.4

This is my rtabmap.launch code, is there anything wrong?

rtabmap.launch
I’m sorry for my poor English, these problems had bothered me for a long time, so I come here to ask my questions, please someone help me.

[matlabbe]

Which rtabmap version are you using? For the 90 deg, it may be caused by IMU local transform.

You are using icp_odometry, which is not the config picture you've shown. Look at the simplified launch file in the referred section http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser

To use icp_odometry with robot_pose_ekf as guess, see http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#A2D_laser_.2B-_Wheel_Odometry_as_guess

base_link should be child of base_footprint.

For the arc trajectory, the lidar TF may have an offset (with base_link) that is missing based on reality. Can you share a sample database?

[Kevin33173]

Hello, My rtabmap version is melodic.
I had follow tutorials which you post, and I didn't use imu data this time.
http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser
then, I change my TF to let base_link  be child of base_footprint.
This is my new graph and TF_tree,



now I have new problem, when I was create map(rtabmap.launch works well),  even though my robot was moving, map wasn't update .
You can see that scanning data was different, but map didn't update

This is my rtabmap.launch, do I need to set more parameters?
rtabmap_test.launch

[matlabbe]

The following line should be removed:

<node pkg="tf" type="static_transform_publisher" name="foot_print_to_odom" args="0 0 0 0 0 0 1 odom base_footprint 10" />

Which node is publishing /odom? That same node should publish odom -> base_footprint based on odometry pose.