Re: Robot stuck in it own footprint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-stuck-in-it-own-footprint-tp3301p3413.html

Hi,

The static transforms look not good:

  <node pkg="tf" type="static_transform_publisher" name="camera" 
   args="0 0 0 0 0 0 base_link camera_link 100" /> 
  <node pkg="tf" type="static_transform_publisher" name="laser" 
   args="0 0 0 0 0 0 base_link laser 100" />
  <node pkg="tf" type="static_transform_publisher" name="odom" 
   args="0 0 0 0 0 0 odom_combined base_footprint 100" /> 

Remove "odom" publisher, this transform should be published in your odometry node (the one publishing odmetry message). See http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

The "camera" and "laser" transform may need to be updated. I don't think the laser is directly on the shaft of the robot (the base frame referring to odometry). The camera is certainly not exactly on the same position than the laser. The rotation between the camera and the lidar map is probably this wrong TF.

cheers