Local costmap does not overlap with global map

ryuichiueda / emcl2

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Local costmap does not overlap with global map #5

Open ryujin62 opened 1 year ago

ryujin62 commented 1 year ago

emcl2_221221_6

Dear Prof.,

It occurs sometime a trobule that a local costmap does not overlap with the global map in the navigation by move_base using emcl2.

Is this problem due to a non-convergence of emcl2 localization caluculation ? OR Is its problem due to a set of parameters that are related with move_base/costmap/dwa ?

Could you like advise to solve this problem ? I send a picture of simulation result. Left side: gazebo Right side: rviz

Best Regards

ryuichiueda commented 1 year ago

Thank you for your information.

If the pose is not estimated accurately, these maps never overlap.
If the pose is accurate, there is a possibility that my implementation has never supported something important things on TF yet.

I would like to wait another information by someone or you.