some question about using on bipedal robot

[104kpf]

While using this package on a bipedal robot, the /current_pose arrow and path keep oscillating and eventually diverge.

I have also used this on a mobile robot, and although the same issue occurs (small oscillating), it still functions adequately.

If you have any insights, I would greatly appreciate your assistance. Thank you in advance.

[rsasaki0109]

Sorry, I just noticed your issue.
I think with a bipedal robot, vibration likely causes scan matching to fail more easily. I recommend adjusting the parameters or using another package that incorporates IMU data.