Please sign in to comment.
HACK: Backdate odometry time 100ms to match LIDAR data.
Based on RViz plot, odometry and LIDAR scan data are offset by about 100ms, which confuses the mapping algorithm. Right now it's unknown if the error comes from the LIDAR node or the Roboclaw node, never mind where inside that node is causing the timing issue. In the short term, the timestamp of odometry data is getting backdated by 100ms. This is close enough to LIDAR data for gmapping to function but is only a hack and not an actual fix. In the long term, need to figure out where that time difference is coming from and fix it at the source.
- Loading branch information...