@小鱼 我现在建图时候一直发生漂移,/map坐标轴是移动的,/odom坐标轴固定不动
<?xml version="1.0"?>
<robot name="pigbot">
<!-- Robot Footprint -->
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.166" rpy="0 0 0"/>
</joint>
<!-- base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<box size="0.57 0.45 0.17"/>
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
</link>
<!-- laser link -->
<link name="laser_frame">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>
<!-- laser joint -->
<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_frame" />
<origin xyz="0 0 0.075" />
</joint>
<!-- wheel link -->
<link name="left_front_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.166"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="left_front_wheel_link" />
<origin xyz="0.175 0.225 -0.085" />
<axis xyz="0 1 0" />
</joint>
<link name="left_back_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.166"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>
<joint name="left_back_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="left_back_wheel_link" />
<origin xyz="-0.175 0.225 -0.085" />
<axis xyz="0 1 0" />
</joint>
<link name="right_front_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.166"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="right_front_wheel_link" />
<origin xyz="0.175 -0.225 -0.085" />
<axis xyz="0 1 0" />
</joint>
<link name="right_back_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0"/>
<geometry>
<cylinder length="0.07" radius="0.166"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5" />
</material>
</visual>
</link>
<joint name="right_back_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="right_back_wheel_link" />
<origin xyz="-0.175 -0.225 -0.085" />
<axis xyz="0 1 0" />
</joint>
</robot>
这是我的URDF,里程计话题发布和教程是一样的,请问中间有什么问题需要更改