Hi,

I was trying out my pioneer robot using the canonical scan matcher but i realized that the pose2D (odometry) keep on changing despite the fact that the robot remained stationary throughout the whole event as shown in the link provided below.

http://www.youtube.com/watch?v=cTQ0T2p32hc

This video shown the x-axis and y-axis relationship between the odom from the p2os driver (blue) and the pose2D from the canonical scan matcher (red) using rxplot. As i mention earlier on, there is a constant offset in the pose2D causing the position feedback to move away from it's ordinary position.

Is there any way which i used to solve this problem?

With thanks,
Zhi Ping