[Unitree GO2] Localization Offset Error

Software
1

Screenshot from 2025-10-07 17-55-26
Screenshot from 2025-10-07 17-55-261920×1080 156 KB

amcl:
  ros__parameters:
    use_sim_time: False
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_link"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: true #false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    robot_model_type: "omnidirectional"
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 3.0 #1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: /go2_unit_38798/scan #scan
    set_initial_pose: true
    initial_pose:
      x: 0.0
      y: 0.0
      z: 0.0
      yaw: 0.0

This is the issue, the SLAM is accurate and the map is precise, but when navigate with map there is an localization issue (offset from the wall). I have included the acml params as well. Please point out any issues regarding this matter.

2

Is it always the case? also could you add a picture with ekf markers that are showing?

3

Are you using the inbuilt 3d lidar or a separate lidar like the mid360 and if so are you using the pcd combiner as the go2_platform pcd to scan works only for the inbuilt lidar

4

How can I add EKF markers? Also, I’m using the L2 LiDAR, but I’m facing an issue: when trying to navigate through the map, the offset doesn’t correct easily with AMCL. It seems like there’s a localization problem. Could you share any ideas on how to debug this issue?

Thanks!

5

image
image1891×985 144 KB

The particle cloud. Please check if your launch file with navigation has the tf2 topics remapped.

6

It might also be due to the Lidar L2. You may want to look into another 3D localization solution as the L2 lidars do not work very well with the 2D scan. Please look into the go2_platform config for the lidar scan and see if you can tune it as well

7

Thank you I solved the issue!