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I am working with ros2 foxy,raspberry, and rplidar to build 2D grid map for a mobile robot. I am using ros2 slamtoolbox with following command ros2 launch slam_toolbox online_async_launch.py params_file:=/home/pi/ros2_foxy_ws/src/articubot_one/config/mapper_params_online_async.yaml use_sim_time:=false Initially, the map is fine as I drive the robot to build the environment map the map get crazy Fine occupancy grid map Unwanted grid map

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  • $\begingroup$ Seems like there might be an issue in the way your tf tree is being published, likely in the odom->base_link transform (Probably not being published or a static transform is published). You can refer to REP105 (ros.org/reps/rep-0105.html) to setup your coordinate frames correctly. Could you share how the tf tree is setup and how the odom->base_link transform is generated? $\endgroup$
    – Sriram
    Commented Jul 2 at 4:26

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