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Hello, I have some problems with a rebuild pioneer3-dx. The rebuild is with a construction(nearby 4kg weight and a Sick LMS 200). Right now I use the navigation stack ( AMCL and the Move_Base) and the p2os-stack(dashboard, motor, driver, joystick). While the robot runs with this configuration, the odom frame drifts farther and farther from the map-frame(the odom rotates around the base_link) see Scheme. After 3 rotations it lose its orientation of the map. The problem is when I send the target vectors to move_base_client direct, the zero coordinates change from map(as start point) to odom. At this situation the starting point is now at a new position in the wall. I tried to manipulate the values from navfn and amcl(odom-values) to compress the failure without success. Has anyone knowledge about this problems?? Thanks in anticipate.


Originally posted by keron on ROS Answers with karma: 1 on 2012-11-06

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Original comments

Comment by Lorenz on 2012-11-06:
What do you men with "the zero coordinates change from map to odom"?

Comment by keron on 2012-11-06:
I mean the origin frame, if I start the robot. This pose is at the frame /map. Normally, during the robot is active /odom should have always the same position nearby the /map. But if I use a joystick or the move_base_client ,the frame /odom drift away.

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This is not a problem, but the correct behaviour. The /odom frame naturally has drift and thus will not coincide with /map when running localization. If you want to address coordinates in a globally consistent frame, use /map, not /odom.


Originally posted by dornhege with karma: 31395 on 2012-11-07

This answer was ACCEPTED on the original site

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