Cartographer SLAM for Non-GPS Navigation

[hbhskf]

Cartographer SLAM for Non-GPS Navigation - Describe the issue/suggestion and improve the title. Please keep a link to the original article if relevant.
Now, I completed all the operations according to the website, and it all looked normal, and when I used the guide mode, I was able to move in the right direction, and then I added the OBSTACLE_DISTANCE node, where when I used the guide mode to guide the vehicle forward, the vehicle was actually moving backwards.

Check the OBSTACLE_DISTANCE data in the mavlink Inspector. The angle_offect data is -180. I do not know if this is correct

Using proximity to view radar information, the proximity in front of the radar (clockwise, the front is 0°) displays 180-270 information in the 270-180 direction

In this object, I used Pixhawk2.4.8,firmware 4.1 rover fmuV3, rplidar used rplidar S2