hi, i saw in every project that the TF looks like map -> odom -> base_footprint -> base_link -> sensor_links

like if i published the encoders data from odom to base_link how you can get the base_footprint before the base_link

like odom -> base_footprint -> base_link

my lidar frame :: base_laser

---

imu frame :: imu_link

im publishing the encoders data like :

odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_link";

and im using ekfnodefilter with this params :

map_frame: map                   
odom_frame: odom                
base_link_frame: base_footprint  
world_frame: odom  

i need to make the correct transformation before launching the navigation stack and slam_toolbox

---

note that im not using the robot state publisher (urdf_file) just i made a static transform with sensor links