localization issues

[eithwa]

hi,
In my test, the robot tf will move to the wrong place, and the reliability value has been maintained at 99.99%, what parameters should I change?
thanks
video:

bagfile and map :
https://drive.google.com/drive/folders/1Fd11c5NSgx-NSjXd_ZWah2CLNwzLm-2k?usp=share_link

<node pkg="tf" type="static_transform_publisher" name="base_link_2_laser" args="0.06 0 0 0 0 0 /base_link /laser 100"/>

[Nikhil619]

Hey did you solve it??

[Nikhil619]

Please post your launch file

[eithwa]

Please post your launch file

Thank you for your reply
I still haven't solved the problem
Here is the link to the launch file that I missed
https://drive.google.com/file/d/182XzIdMi3RTf0RPdy4MBUMd0D3Ob8Rcc/view?usp=share_link

[Nikhil619]

Hey, I don't think this is a launch file. This is what your launch file shows

[eithwa]

Sorry, I uploaded it to gist
https://gist.github.com/eithwa/4d3dcf0feb734751d5fcaa196e40f176

[Nikhil619]

Hey, sorry for this late reply. Did you set global_pose_sampler to True or False?

[eithwa]

Hello
I set "use_gl_pose_sampler" and "use_mrf_failure_detector" parameters to true

[Nikhil619]

    <arg name="matching_rate_th" default="0.03" />

Setting use_global_pose_sampler to false could solve this. But if you want the global_pose_sampler to be there then try adjusting the above mentioned parameter. In the video it's clear that the algorithm tried to match the scan with another similar part of the map. So adjusting this parameter could help

[eithwa]

Setting use_global_pose_sampler to false could solve this. But if you want the global_pose_sampler to be there then try adjusting the above mentioned parameter. In the video it's clear that the algorithm tried to match the scan with another similar part of the map. So adjusting this parameter could help

Thank you for your reply
I will try to edit the parameters you mentioned

[Nikhil619]

Did you try?
If it's working fine without global localisation please close the issue.

[eithwa]

Did you try? If it's working fine without global localisation please close the issue.

Sorry for the late reply
Now it works normally after turning off the global localization
thank you
close issue