In my TF tree, I have a defined “map” frame and every other frame is branched off the map frame. The drone starts at the odom frame and odom frame doesn’t coincide with the map frame. For a type of application I’m working on the transformation from odom to map is not static, i.e., the odom frame moves in the map frame. In theory, this is fine, it doesn’t violate ROS REPs. But I noticed that the drone gets unstable (I’m seeing oscillations) and slowly dirfts away in a certain direction whislt it’s supposed to hold its position. I check the Autopilot SW, I was trying to find if there’s any assumption that the odom is statically linked to the map frame.
