Local costmap does not overlap with global map

[ryujin62]

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Dear Sir,

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

Is this problem due to a non-convergence of iris_LaMa 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

[eupedrosa]

Hi @ryujin62

It looks to be a problem in your initial estimate. You can use RViz to properly set the pose of the robot. If you look at the global map and the local map, they do not match, they are from different areas of the environment.