Hi,

I am facing one issue in ROS , Now I am at the stage of creating a map , firstly my odometry data is been correct , TF( Transform ) data between all frames is correct and the Laserscan is giving right scan data.

Now I am running odometry, tf and gmapping pkg for creating a map, my LaserScan is not been running due to which My robot is gives this transform from map -> odom

At time 1475829818.208

• Translation: [0.000, 0.000, 0.000]
• Rotation: in Quaternion [0.000, 0.000, 0.000, 0.000] in RPY (radian) [0.000, 0.000, 0.000] in RPY (degree) [0.000, 0.000, 0.000]

At time 1475829818.958

• Translation: [0.000, 0.000, 0.000]
• Rotation: in Quaternion [0.000, 0.000, 0.000, 0.000] in RPY (radian) [0.000, 0.000, 0.000] in RPY (degree) [0.000, 0.000, 0.000]

Now I am running LaserScan along with this all topics than there is transform from map->odom as below

At time 1475829818.208

• Translation: [-1.184, -1.583, 0.000]
• Rotation: in Quaternion [0.000, 0.000, 0.554, 0.832] in RPY (radian) [0.000, -0.000, 1.175] in RPY (degree) [0.000, -0.000, 67.323]

At time 1475829818.958

• Translation: [-1.184, -1.583, 0.000]
• Rotation: in Quaternion [0.000, 0.000, 0.554, 0.832] in RPY (radian) [0.000, -0.000, 1.175] in RPY (degree) [0.000, -0.000, 67.323]

Because of this transform from map to odom. My robot position on rviz has discrete jumps due to which I am unable to create perfect map, so can anyone suggest me what transformation should be present in map-> odom? and how to correct transform to create perfect map? Thanks in advanced.