My robot doesn't move synchronously in rviz and gazebo

[Yaru-Gu]

Hello,

I'm implementing this package with a quadruped robot. I need to read the elevation map information from rivz, which is used to control the robot motion. However, my robot won't walk to the same positions relative to an object in rviz as in gazebo. For example, as you can see in the picture, the robot has landed on the rectangular object in gazebo (left figure), while there is a distance between the same foot and the object in rviz (right figure).

In my case, the objects in the elevation map shown in rviz can move towards my robot, when the robot starts moving forward. When I run the TurtleBot example provided with the package, I noticed the objects in the elevation map stayed still. I'm not sure whether this has something to do with my problem.

Thank you in advance. Any help would be appreciated.

[maximilianwulf]

Hey, to me that looks like a URDF issue, i.e. your camera with respect to the base is not correct.