Issue with odom transforms

[mschubert90]

Hello,

recently I ran into some transform problems for base_link and base_footlink.

When I'm starting the create3, publish the robot states via launch file from the sim repo (https://github.com/iRobotEducation/create3_sim) and visualize the robot with rviz, first everything seems to be working right:

But after moving the robot for a while (via teleop_twist_keyboard) the robot seems to be flying above the ground (base_link drifts in z-direction). The longer I drive the robot around the more the base_link shifts in z-directon (even though I don't drive any slopes or pitches):

This problem does not occur in simulation only when publishing the odom transforms from the real robot. So there seems to be an issue with the odom transforms!?

I saw that there's an option for disabling the odom transforms from the robot by setting the applications parameters file like this:

robot_state:
  ros__parameters:
    publish_odom_tfs: false

But then I would need to publish the odom transforms manually (or like in simulation). Any other clue how to fix this issue?

Thank you in advance.

Kind regards, Max