soldierofhell

In the meantime I'm digging through [test_prior.launch](https://github.com/introlab/rtabmap_ros/blob/ros2/launch/tests/test_prior.launch) example and from what I understand my globalPose frame_id should be base_link=gps (like "kinnect" in test_prior.launch) and map->base_link tf should come from rtabmap...

Hurray, so far I've changed only the globalPose frame_id and the results are finally in line with gps, now I must clean up the tf tree

@matlabbe, just one more question about "proximity detection". Am I understand correctly that pure lidar doesn't have loop closure, but only proximity detection, so the scenario that the robot will...