Local costmap does not overlap with global map

[ryujin62]

---

Dear Prof.,

It occurs sometime a trobule that a local costmap does not overlap with the global map in the navigation by move_base using emcl2.

Is this problem due to a non-convergence of emcl2 localization caluculation ? OR
Is its problem due to a set of parameters that are related with move_base/costmap/dwa ?

Could you like advise to solve this problem ?
I send a picture of simulation result.
Left side: gazebo
Right side: rviz

Best Regards

[ryuichiueda]

Thank you for your information.

• If the pose is not estimated accurately, these maps never overlap.
• If the pose is accurate, there is a possibility that my implementation has never supported something important things on TF yet.

I would like to wait another information by someone or you.