Improper merging when robots have different orientations

[phoenixrider12]

I am using map merging with 2 real robots and my robots have different initial orientations. The launch file for multirobot_map_merge is as follows:

Why the map merging is like this:

If I keep the orientation same, then the merging is correct.

[sandilyasg]

@phoenixrider12 were you able to resolve this issue? If so, can you please post what you did. Thanks

[phoenixrider12]

@phoenixrider12 were you able to resolve this issue? If so, can you please post what you did. Thanks

I did solve the issue but don't remember what I exactly did. First of all I was not able to do merging with unknown initial positions. I was only able to do it with known initial positions and there also I mentioned the x,y drift between both the robots but didn't mention the yaw difference between them This was my launch file which worked: https://github.com/phoenixrider12/Multi-VOLTA-Exploration-and-Dynamic-Map-Updates/blob/main/map_merge/launch/map_merge.launch

[sandilyasg]

@phoenixrider12 Thanks for your reply. I am running it with known initial positions. I tried to use the x,y drift between both the robots but somehow it made the merging worse -- I am looking into bugs related to the package itself in the following links:
#15
#12