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TypingCat / spatial-topology-teleoperation

Teleoperation for Mobile Robot using Semantics
GNU General Public License v3.0
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Rviz markers are unstable #2

Closed TypingCat closed 3 years ago

TypingCat commented 3 years ago

I noticed that rviz doesn't print markers on proper position. This bug can be easily reproduced.

  1. Publish a static marker at (1, 0, 0) in base_footprint.
  2. In rviz, make sure the marker is fixed.
  3. Change frame_id to odom.
  4. You can see that the marker is no longer fixed.

It needs to be solved to extend the topology graph to the global coordinate system.

TypingCat commented 3 years ago

Only rviz marker has this problem. It can be avoided by using other types of messages like point cloud or map. If markers are essential, frame_id must be unified.