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It could be caused by your TF tree being wrong (if for some reason your URDF and the SDF don't align) but I'm thinking the more likely case if you use the standard USRF/SDF setups is that your footprint is actually what's wrong. The origin of the points that you use to define your footprint should be the base_link. For mobile robots, that's typically the center of rotation or for ackermann vehicles its the center of the rear axle (typically). For articulated trucks, you'd have to check the convention, but I imagine its the same.
It might just be that your footprint itself visualized in rviz is incorrectly defined relative to a coordinate system causing it to appear offset.
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It could be caused by your TF tree being wrong (if for some reason your URDF and the SDF don't align) but I'm thinking the more likely case if you use the standard USRF/SDF URDF/SDF setups is that your footprint is actually what's wrong. The origin of the points that you use to define your footprint should be the base_link. For mobile robots, that's typically the center of rotation or for ackermann vehicles its the center of the rear axle (typically). For articulated trucks, you'd have to check the convention, but I imagine its the same.
It might just be that your footprint itself visualized in rviz is incorrectly defined relative to a coordinate system causing it to appear offset. offset.
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