Open winwinashwin opened 2 years ago
I have two turtlebots publishing maps at /tb3_0/map and /tb3_1/map, with known initial positions. The origin of the merged map seems to have an offset from the individual maps
$ rostopic echo -n 1 /tb3_0/map | head -n 23 header: seq: 14 stamp: secs: 34 nsecs: 317000000 frame_id: "tb3_0/map" info: map_load_time: secs: 0 nsecs: 0 resolution: 0.05000000074505806 width: 384 height: 384 origin: position: x: -10.0 y: -10.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
$ rostopic echo -n 1 /tb3_1/map | head -n 23 header: seq: 11 stamp: secs: 27 nsecs: 58000000 frame_id: "tb3_1/map" info: map_load_time: secs: 0 nsecs: 0 resolution: 0.05000000074505806 width: 384 height: 384 origin: position: x: -10.0 y: -10.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
$ rostopic echo -n 1 /map | head -n 23 header: seq: 37 stamp: secs: 38 nsecs: 2000000 frame_id: "map" info: map_load_time: secs: 38 nsecs: 2000000 resolution: 0.05000000074505806 width: 384 height: 388 origin: position: x: -9.600000143051147 y: -9.700000144541264 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
TF info
Transforms between frames are set (for each robot) as
<node pkg="tf" type="static_transform_publisher" name="world_to_$(arg uid)_tf_broadcaster" args="0 0 0 0 0 0 /map /$(arg uid)/map 100"/>
@winwinashwin I am experiencing the same issue. Were you able to resolve this? Please let me know.
I have two turtlebots publishing maps at /tb3_0/map and /tb3_1/map, with known initial positions. The origin of the merged map seems to have an offset from the individual maps
Map 1 metadata
Map 2 metadata
Merged map metadata
TF info
Transforms between frames are set (for each robot) as