Using Zed2’s positional tracking for my Ros2 project, the odom->zed_camera_link TF jitters around far away from its true position:
I’ve tried to use AMCL to account for this by publishing to the map->odom TF but since the Zed positional tracking jitters around discontinuously in spikes.
It breaks assumptions of continuous motion that AMCL depends on and it doesn’t work.
I was wondering if there was a way to fix the noisy, jittery positional tracking in the first place. Here’s a pastebin link to my Zed parameters if anyone has recommendations.