I am trying to integrate the elevation_mapping software on my own robot. Everything worked great in the turtlebot demo. However, on my robot, the elevation map looks completely distorted, and the robot pose is not being updated correctly. I have a demo to illustrate these issues. In the demo, I am spawning my robot and moving it up a hill. I have a before screenshot, where the robot is on relatively flat ground, and an after screenshot, where it is moving up a hill.
In the before screenshot, the elevation map looks relatively normal. This is because I have not moved the robot yet after spawning. I have an error message that says could not get pose information for robot when I launch. I do not get this error again, so I am not sure whether it is related to my issues. Also, I have a rostopic echo /base_footprint_pose running in the left terminal. The z position stays constant throughout the simulation at .2667 (z position of my base_joint, and therefore base_footprint) , which I think is where the issue is coming from.
Here, the map is visibly distorted, and the robot model and pose stay completely flat when they should be moving with the map. And the z position on the robot pose also stayed the same. I think somehow the pose is not being updated correctly, which distorts the elevation map in the process. Do you know what might be causing the issue? Thanks.
I am trying to integrate the elevation_mapping software on my own robot. Everything worked great in the turtlebot demo. However, on my robot, the elevation map looks completely distorted, and the robot pose is not being updated correctly. I have a demo to illustrate these issues. In the demo, I am spawning my robot and moving it up a hill. I have a before screenshot, where the robot is on relatively flat ground, and an after screenshot, where it is moving up a hill.
In the before screenshot, the elevation map looks relatively normal. This is because I have not moved the robot yet after spawning. I have an error message that says could not get pose information for robot when I launch. I do not get this error again, so I am not sure whether it is related to my issues. Also, I have a rostopic echo /base_footprint_pose running in the left terminal. The z position stays constant throughout the simulation at .2667 (z position of my base_joint, and therefore base_footprint) , which I think is where the issue is coming from.
Here, the map is visibly distorted, and the robot model and pose stay completely flat when they should be moving with the map. And the z position on the robot pose also stayed the same. I think somehow the pose is not being updated correctly, which distorts the elevation map in the process. Do you know what might be causing the issue? Thanks.