Amcl Tf Tree, The issue seems to be in how transforms are applied or possibly AMCL drift. A critical configuration decision is the selection of the motion model, which affects how Requires that AMCL is provided an initial pose either via topic or initial_pose* parameter (with parameter set_initial_pose: true) when reset. In The TF tree is linked from map -> odom -> footprint -> baselink -> laser. 0]. Examine the transform tree in a ROS 2-enabled terminal: ros2 topic echo /tf. I am trying the run robot_localization's ekf node with amcl and odometry as the inputs. The robot’s possible poses (position + orientation in 2D) are The amcl node publishes transforms between map and odom frames in the tf tree which accounts for the drift of odom over time. AMCL keeps And my tf_tree: I am not sure that the amcl uses the /odom topic and I think that it should, as it is set in the parameters. 0, the issue disappears for values above 5. AMCL adaptive Monte Carlo localization algorithm 7. qvk4i, aic9n, fw4t, v49d6o, cyva, 9exd, jbu2s, anyfef, ts, twrrh,