odom jump

[CTGUMARK]

Using the keyboard node to control the robot's movement, the transformation between odom and base_link does not match the actual situation at all, and there is noticeable jitter.

[vidneu]

I am encountering similar problems where the robots movement in Gazebo and values in the odom don't line up at all. I'd be grateful for input on how others have resolved this issue, I'm investigating it right now

[CTGUMARK]

我遇到了类似的问题，Gazebo 中的机器人运动和里程表的值完全不一致。如果能分享一下其他人是如何解决这个问题的，我将非常感激，我现在​​正在研究这个问题。

In fact, I use the GO2 for 3D LiDAR mapping and localization. During the mapping phase, I don't need to use odometry data, so I disabled the tf accordingly. However, during localization, odometry is published for navigation purposes. For more details, please refer to: https://github.com/CTGUMARK/unitree-go2-ros2.

[vidneu]

我遇到了类似的问题，Gazebo 中的机器人运动和里程表的值完全不一致。如果能分享一下其他人是如何解决这个问题的，我将非常感激，我现在​​正在研究这个问题。

In fact, I use the GO2 for 3D LiDAR mapping and localization. During the mapping phase, I don't need to use odometry data, so I disabled the tf accordingly. However, during localization, odometry is published for navigation purposes. For more details, please refer to: https://github.com/CTGUMARK/unitree-go2-ros2.

Turns out, for me the solution was to just set the Odometry Scalerparameter to something around 4.25, maybe this will help you too.