transformation map->odom map->base_link

[kilmarnock]

Hi! I try to setup your project with a 2D Lidar.

You publish the transformation map->odometry and map->base_link. My prefered setup is

map->odom->base_footprint->base_stabilized->base_link like hector_mapping does (please see drawing): http://wiki.ros.org/hector_slam/Tutorials/SettingUpForYourRobot

What do I do with the vectors you publish? It works both ways, but the locations relative to the map are not the same (the vectors are not the same).

Thank you Felix

[MohamedEhabHafez]

Hi, Did you have tried your transformation setup with a simulation on rviz? because I have a problem with using blam with a husky. Your help and reply would be so appreciated.