fixed map and costmap misalignement due to wrong frame_id #36
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topic renamed to rviz_map. An alternative like you suggested would be to remap STDR map to unused_map and just use the map from map_server. |
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I made a pull request to change the frame-id in stdr from map to world. I will let you know when they merge it so that you merge my last changes in turtlebot_stdr. |
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@mehditlili : got a link to that stdr pull request? |
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Any progress on this? |
stonier
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Dec 2, 2014
fixed map and costmap misalignement due to wrong frame_id
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The map published by STDR had "map" as frame ID whereas I am using "world" as global frame_id. This causes a misalignment between static_map and global_costmap in RVIZ. The only way to fix this was to run a parallel map server that publishes the same static map to a different topic (i.e /new_map) but with a frame_id "world" and choose it in RVIZ instead of "/map".
If my description was not clear, I can show you directly on my computer.