Revision history [back]

Haven´t tried it myself, but setting the "pub_map_odom_transform" transform parameter to "false" and remapping the map topic to somewhere else should help.

Then, two options for doing things come to my mind:

• By using the undocumented "pub_odometry" parameter set to true, odometry is published as a nav_msgs/Odometry message on the "scanmatch_odom" topic. This could the used to generate the proper tf odometry via robot_pose_ekf or so.
• AMCL supports the "odom_frame_id" parameter. If you set that to "scanmatcher_frame", there´s a chance things work. I´m not 100% sure the transform scanmatcher_frame has the correct parent link though.