Issue with Dingo Navigation with a Map using AMCL about dingo HOT 2 CLOSED

I followed this procedure and was able to get the Dingo-O to navigate using the AMCL demo:

1. Add the lidar to the robot and start the simulation

export DINGO_OMNI=1

# I added a UST-10 lidar, but this should all work identically with the LMS1xx too
export DINGO_LASER=1
export DINGO_LASER_MODEL="ust10"
roslaunch dingo_gazebo dingo_world.launch

2. Start Gmapping to record the map. Skip this step if you've already generated a map.

roslaunch dingo_navigation gmapping_demo.launch

3. Start Rviz to monitor the map

roslaunch dingo_viz view_robot.launch config:=gmapping

4. Use a PS4 controller paired to your PC or the interactive markers in Rviz to drive the robot around to generate the map.

5. Save the map

rosrun map_server map_saver -f dingo_world

I've attached the files I produced:
dingo_world.zip

6. Close Rviz and cancel the gmapping launch file.

7. Start the AMCL demo:

roslaunch dingo_navigation amcl_demo.launch map_file:=/path/to/dingo_world/dingo_world.yaml

8. Open Rviz

roslaunch dingo_viz view_robot config:=localization

9. Press the "2D Pose Estimate" button on the top toolbar and click & drag to place the robot on the map with its approximate location and orientation.

For example, with the robot starting here:

AMCL's initial estimate may be at the map's origin:

You can see how the lidar data and the map don't line up at all.

After using the 2D pose estimate the robot's position is much closer to reality:

Close counts for the pose estimate; as long as the robot is close to the right location and oriented about the right way, AMCL will do a resonable job of re-localizing.

10. Use the 2D Nav Goal button to set a goal pose. Lean back and watch the robot drive.

It's possible that if your computer is slightly under-powered, or lacks graphical hardware acceleration, that Gazebo is hogging too much of the CPU, causing the simulation to run too slowly. This in turn may cause errors with the TF data being passed to Gmapping and/or AMCL. In Gazebo, on the bottom toolbar, you should see "Realtime Factor." What is this reading on your system?

(For reference, when I just ran through the steps outlined above I was getting a Realtime Factor of between 0.85 and 0.9 at ~60FPS.)

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Closing due to inactivity. Please feel free to re-open if issue persists.

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