Revision history [back]

I solved this by running

roswtf

This tool found a contention between the amcl node and the zed ros wrapper. The were both publishing the same transform which explained the jumping back and forth.

At this point in time I have no idea which one should be allowed to publish the tf but I tried to turn off the amcl tf publish tf_broadcast :=false but this showed no difference so I went into the zed_wrapper/params/zed2.yaml file and added under pos_tracking I set publish_map_tf: false.