Pablo Freitas

@HaoQChen Hey a tried what you sad but didn't worked could you take a look at my files to give a hit about what to do? tf_listener.lookupTransform(base_frame_id, last_scan.header.frame_id, ros::Time::now(), transform);//tf_listener.lookupTransform(base_frame_id,...

> It seem that, it can't get the first laser data before the `tf_listener.lookupTransform(base_frame_id, last_scan.header.frame_id, ros::Time(0), transform);` in CLaserOdometry2DNode.cpp. So last_scan.header.frame_id will be empty at that time which cause the...

> > last_scan.header.frame_id > > In your case, you should specify which `last_scan.header.frame_id` is, like that `tf_listener.lookupTransform(base_frame_id, "my_laser_frame", ros::Time::now(), transform);`. Cause `last_scan.header.frame_id` is still empty at that time, you need...

Hello again, The problem is that in was trying to use this repository as a solution for not to use the cross-compiling RPI repository (https://github.com/micro-ROS/micro-ROS-bridge_RPI), because i find some trouble...