I am using Cartographer for 2D SLAM using a single lidar and wheel encoders. I have my map frame set to map and tracking frame set to base. The issue I have is that the /tf: map -> odom produced by cartographer is jittery, and I'm not certain what's the cause.
I have two sources of odometry, so that may be the reason why this issue is taking place. Specifically, I have odometry being published on /odom (child frame being base_link and not base), and I have odometry published on tf: odom->base. Furthermore, the odometry on the /odom topic is noisier than the one on the /tf topic. My questions are as follows:
Is it possible to configure Cartographer so that it uses the /tf: odom->base topic instead of using /odom (when setting use_odometry: true?
Given that the odometry on the /odom topic is from the odom frame to the base_link (and not base) frame, does Cartographer take that into account (i.e., does it compute the odom->base transform using the base_link->base from the /tf tree) or does it automatically assume that the /odom messages are to the base frame?
I am using Cartographer for 2D SLAM using a single lidar and wheel encoders. I have my map frame set to
mapand tracking frame set tobase. The issue I have is that the/tf: map -> odomproduced by cartographer is jittery, and I'm not certain what's the cause.I have two sources of odometry, so that may be the reason why this issue is taking place. Specifically, I have odometry being published on
/odom(child frame beingbase_linkand notbase), and I have odometry published ontf: odom->base. Furthermore, the odometry on the/odomtopic is noisier than the one on the/tftopic. My questions are as follows:/tf: odom->basetopic instead of using/odom(when settinguse_odometry: true?/odomtopic is from the odom frame to thebase_link(and notbase) frame, does Cartographer take that into account (i.e., does it compute theodom->basetransform using thebase_link->basefrom the/tftree) or does it automatically assume that the/odommessages are to thebaseframe?I appreciate your help.