Issue with odom transforms
mschubert90 opened this issue · 0 comments
Hello,
recently I ran into some transform problems for base_link and base_footlink.
When I'm starting the create3, publish the robot states via launch file from the sim repo (https://github.com/iRobotEducation/create3_sim) and visualize the robot with rviz, first everything seems to be working right:
But after moving the robot for a while (via teleop_twist_keyboard) the robot seems to be flying above the ground (base_link drifts in z-direction). The longer I drive the robot around the more the base_link shifts in z-directon (even though I don't drive any slopes or pitches):
This problem does not occur in simulation only when publishing the odom transforms from the real robot. So there seems to be an issue with the odom transforms!?
I saw that there's an option for disabling the odom transforms from the robot by setting the applications parameters file like this:
robot_state:
ros__parameters:
publish_odom_tfs: false
But then I would need to publish the odom transforms manually (or like in simulation). Any other clue how to fix this issue?
Thank you in advance.
Kind regards,
Max