Currently, issues with the speed/reliability of data coming from the Occipital Structure Core depth sensor’s USB connection may cause robots to have issues with successfully obtaining and keeping pose. It can be difficult to drive Misty manually and maintain the low speeds required for her to map an area without losing pose. For suggested ways to mitigate this, see:
This issue has been greatly improved, but there are still situations where Misty can lose pose. Still recommend moving at low speeds if you’re experimenting with mapping!