Pose with wrong direction

[ivywongkk]

Hi there I'm using rf2o for the navigation stack. I rotated my lidar 90 degrees around z direction, and flipped upside down, and it scans only half range, from -180 to 0 degree. There I got a problem: tf goes to mirrored direction( x axis)...i.e. when I move robot to right, the tf goes to left.. The tf setup seems to be correct because I run the same tf for hector slam to create a map, and no problem with the pose direction. I'm new in ROS, could anyone advise how to solve it?

[CodesHub]

I am having the same issue. I simply added the negative sign in LaserOdometry2D::PoseUpdate(). in file CLaserOdometry2D.cpp Line 923: pose_aux_2D.translation()(0) = -acu_trans(0,2); pose_aux_2D.translation()(1) = -acu_trans(1,2); Line 956: lin_speed = -acu_trans(0,2) / time_inc_sec; Then I get the right direction.

[ewerlopes]

Really helpful, thanks!

[amgaber95]

Hi, I have the same problem, but when tried to make this solution, the problem got worse, now the odom is calculated in the reverse direction

Can you please help me with this one.