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ZebraDevs / fetch_gazebo

Gazebo simulator for Fetch
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Fix test_zone map origin #102

Closed nickswalker closed 4 years ago

nickswalker commented 4 years ago

Origin in the map didn't quite match origin in Gazebo. This is usually hidden by localization.

Screenshots show the robot spawned at 0,0. No localization is running (using ground truth from Gazebo instead) so the offset is visible and constant anywhere the robot goes.

Original map origin: Screenshot from 2020-05-15 15-31-55 Screenshot from 2020-05-15 15-32-10

Map origin fixed: Screenshot from 2020-05-15 15-30-23 Screenshot from 2020-05-15 15-33-25

mikeferguson commented 4 years ago

@erelson - it's possible when making the map the robot had been moved just a little bit before starting mapping and nobody ever noticed the offset since AMCL usually corrects it quickly...