The localization solution in the video in the landing page wobbles on rotations

[glpuga]

Bug description

The localization solution seems to wobble around when the robot turns on the video in the landing page in a very noticeable way:

https://github.com/Ekumen-OS/beluga#overview

I know we already spoke about this, but I don't know what the follow up was and whether we are tracking this issue. It's very noticeable in the video so I'd rather have a tracker issue for this and document follow ups.

Platform (please complete the following information):

• OS: ???
• Beluga version: ???

How to reproduce

Watch the video in https://github.com/Ekumen-OS/beluga#overview

Expected behavior

The lidar should stay aligned with the map walls at all times.

Actual behavior

It doesn't. When the robot rotates, the lidar loses alignment with the walls in a very noticeable way, it appears to oscillate a bit and then returns to alignment.

Additional context

When we spoke about this we enumerated a number of possible causes:

• Odometry yaw data issue. This was 99% discarded given the calibration tests that had been performed on the Andino robot used for the capture.
• Visualization artifact due to reproduction speed.
• Insufficient motion model noise to represent the quality of the odometry information available.