Transform the fused map in to robot frame?

[Yinghui-Lee]

HI, thanks for this masterpiece! When i utilised this library, I found that the output fused map is in the "map" frame. Instead, I want the output under the "robot" frame to complete the motion planning, so is there any official function to do the transformation?

[Yinghui-Lee]

I try to add codes to transform the output fused map with the robot pose, but i found when the move direction change, the transformed map wrong. So why? problem video