Hello Eitan,
I am running an AMCL (diff drive) in which parameters are:
In my global costmap conf:
global_costmap:
global_frame: /map
robot_base_frame: base_link
and in LocalCostMap conf:
global_frame: odom
robot_base_frame: base_link
and in odom TransformStamped message settings:
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_link";
The link is: /map->/odom->/base_link->/base_laser_link
As i said initially it works nicely but after some period it falls off.
My simulation real time parameter is set to false. If i make it true the
navigation stack hangs.
Please let me know if i need to sync. frequency.
- Prasad Dixit