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odom tf is always changing, how can I change it and make it same with map tf
After “roslaunch champ_config gazebo.launch”and “roslaunch champ_config navigate.launch rviz:=true ”, my robot is navigating autonomously, but the odom coordinates in rviz are always changing, and the map coordinates are unchanged. And why the lidar data in rviz is erratic. These eventually led to the sudden change of the robot's position from one position to another.
do you have a video?
Dear doctor, you can see video here. Problem1: lidar data is erratic; Problem2: robot's position meet a sudden change from one position to another(it may be the reason of odom coordinate,but I do not how to solve it. ) And I am looking forward to your replay.
Hi, @Joyuan-sys After configuring Aliengo with Assistant, aliengo can walk in Rviz, but cannot stand in Gazebo. How can I solve this problem? Thank you for your answer!
On Sun, Dec 12, 2021 at 5:42 AM Supergithubber @.***> wrote:
After configuring Aliengo with Assistant, aliengo can walk in Rviz, but cannot stand in Gazebo. How can I solve this problem? Thank you for your answer!
From the little information, you've given above. This could be perfectly valid. Perhaps the robot's center of gravity is not within the polygon defined by the feet that are in contact with the ground. Or perhaps a motor is unable to supply the required torque and a leg collapses. There are many valid reasons for falling. It works in rviz because rviz is not doing a physics calculation.
