Using gmapping with amcl [closed]
I am using gmapping to send a map to the amcl via the map topic. This all works as long as I remap the tf topic in the amcl node to some other topic. If not then the base_foot print and the lazer scans jump between the map origin and the current goal location. Can anyone shed light on this behavior?
In amcl is says it publishes the transform from odom (which can be remapped via the ~odom_frame_id parameter) to map.
In gmapping it says it publishes: map → odom the current estimate of the robot's pose within the map frame