{"action":"created","issue":{"url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/112","repository_url":"https://api.github.com/repos/SteveMacenski/slam_toolbox","labels_url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/112/labels{/name}","comments_url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/112/comments","events_url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/112/events","html_url":"https://github.com/SteveMacenski/slam_toolbox/issues/112","id":508481311,"node_id":"MDU6SXNzdWU1MDg0ODEzMTE=","number":112,"title":"Localization jumps","user":{"login":"facontidavide","id":2822888,"node_id":"MDQ6VXNlcjI4MjI4ODg=","avatar_url":"https://avatars2.githubusercontent.com/u/2822888?v=4","gravatar_id":"","url":"https://api.github.com/users/facontidavide","html_url":"https://github.com/facontidavide","followers_url":"https://api.github.com/users/facontidavide/followers","following_url":"https://api.github.com/users/facontidavide/following{/other_user}","gists_url":"https://api.github.com/users/facontidavide/gists{/gist_id}","starred_url":"https://api.github.com/users/facontidavide/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/facontidavide/subscriptions","organizations_url":"https://api.github.com/users/facontidavide/orgs","repos_url":"https://api.github.com/users/facontidavide/repos","events_url":"https://api.github.com/users/facontidavide/events{/privacy}","received_events_url":"https://api.github.com/users/facontidavide/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":18,"created_at":"2019-10-17T13:37:24Z","updated_at":"2019-10-17T21:33:59Z","closed_at":null,"author_association":"NONE","body":"Hi,\r\n\r\nI am trying slam_toolbox with a rosbag. I play it with the option **--clock** and setting **use_sim_time** to true.\r\n\r\nThe creation of the serialized map was ok, I used the command \r\n\r\n            roslaunch slam_toolbox online_sync.launch\r\n\r\nAs suggested in the README. I save the serialized map as \"test_map\". I double checked the `.ros` folder and it is created correctly.\r\n\r\nThings start getting more complicated in localization mode. I use\r\n\r\n           roslaunch slam_toolbox localization.launch\r\n\r\nand the following parameters:\r\n\r\n          mode: localization\r\n          map_file_name: test_map\r\n          map_start_pose: [0.0, 0.0, 0.0]\r\n\r\nBut apparently the localization is not working.\r\n\r\n![image](https://user-images.githubusercontent.com/2822888/67013729-dd2ddb80-f0f3-11e9-8b1f-8b14c0519fc9.png)\r\n\r\nAfter a closer look at the data, it seems that the frame **map->odom** is published periodically, but it is always the same value.\r\n\r\nAny clue?\r\n"},"comment":{"url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/comments/543371217","html_url":"https://github.com/SteveMacenski/slam_toolbox/issues/112#issuecomment-543371217","issue_url":"https://api.github.com/repos/SteveMacenski/slam_toolbox/issues/112","id":543371217,"node_id":"MDEyOklzc3VlQ29tbWVudDU0MzM3MTIxNw==","user":{"login":"facontidavide","id":2822888,"node_id":"MDQ6VXNlcjI4MjI4ODg=","avatar_url":"https://avatars2.githubusercontent.com/u/2822888?v=4","gravatar_id":"","url":"https://api.github.com/users/facontidavide","html_url":"https://github.com/facontidavide","followers_url":"https://api.github.com/users/facontidavide/followers","following_url":"https://api.github.com/users/facontidavide/following{/other_user}","gists_url":"https://api.github.com/users/facontidavide/gists{/gist_id}","starred_url":"https://api.github.com/users/facontidavide/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/facontidavide/subscriptions","organizations_url":"https://api.github.com/users/facontidavide/orgs","repos_url":"https://api.github.com/users/facontidavide/repos","events_url":"https://api.github.com/users/facontidavide/events{/privacy}","received_events_url":"https://api.github.com/users/facontidavide/received_events","type":"User","site_admin":false},"created_at":"2019-10-17T21:33:59Z","updated_at":"2019-10-17T21:33:59Z","author_association":"NONE","body":"Once the robot is localized, there is no drift. But I would like to test how robust localization is to disturbances /this is the reason I was annoying the robot myself from RViz).\r\n\r\nLet's put it this way: as a user, I expect that:\r\n\r\n- the actual initial pose or the topic **/initialpose** behave similarly.\r\n- I wan to know which parameters should I tune to converse in less than 26 seconds, that is like ... a lot!\r\n\r\n"}}
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