The pose and the walls disagree when the chain from the map to the base is broken. A robot drawn on the screen is not a localized robot.
| What you see | What it does not prove | First check |
|---|---|---|
| The base is on the screen | It knows where it is on the map | The chain from map, to odom, to the base |
This page is the wrong tool when the frames are connected and the wheels ignore the command. That fault is the base, not the map.