odom tf is always changing, how can I change it and make it same with map tf

Question

odom tf is always changing, how can I change it and make it same with map tf

Joyuan-sys opened this issue 3 years ago · comments

Juan Miguel Jimeno · Answer 1 · Wed Dec 08 2021 00:48:51 GMT+0800 (China Standard Time)

Hi, could you elaborate more please?

Joyuan · Answer 2 · Wed Dec 08 2021 15:58:34 GMT+0800 (China Standard Time)

After “roslaunch champ_config gazebo.launch”and “roslaunch champ_config navigate.launch rviz:=true ”, my robot is navigating autonomously, but the odom coordinates in rviz are always changing, and the map coordinates are unchanged. And why the lidar data in rviz is erratic. These eventually led to the sudden change of the robot's position from one position to another.

Juan Miguel Jimeno · Answer 3 · Fri Dec 10 2021 00:23:07 GMT+0800 (China Standard Time)

do you have a video?

Joyuan · Answer 4 · Fri Dec 10 2021 16:18:23 GMT+0800 (China Standard Time)

do you have a video?

Dear doctor, you can see video here. Problem1: lidar data is erratic; Problem2: robot's position meet a sudden change from one position to another(it may be the reason of odom coordinate,but I do not how to solve it. ) And I am looking forward to your replay.

Zhoushi Chao · Answer 5 · Sun Dec 12 2021 21:42:15 GMT+0800 (China Standard Time)

Hi, @Joyuan-sys
After configuring Aliengo with Assistant, aliengo can walk in Rviz, but cannot stand in Gazebo. How can I solve this problem?
Thank you for your answer!

Chris Albertson · Answer 6 · Wed Dec 15 2021 16:20:28 GMT+0800 (China Standard Time)

On Sun, Dec 12, 2021 at 5:42 AM Supergithubber ***@***.***> wrote: After configuring Aliengo with Assistant, aliengo can walk in Rviz, but cannot stand in Gazebo. How can I solve this problem? Thank you for your answer!

From the little information, you've given above. This could be perfectly valid. Perhaps the robot's center of gravity is not within the polygon defined by the feet that are in contact with the ground. Or perhaps a motor is unable to supply the required torque and a leg collapses. There are many valid reasons for falling. It works in rviz because rviz is not doing a physics calculation.