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Ok, I have readed more info and now (finally) I understand how it works and how the frame is "attached" to the LaserScan. Now the question is:

I saw that I can set which frame_id the laser is in. In my case I will be updating this frame since it will be rotating. Do I need to publish the new tf/laser AND call the dynamic reconfigure of the laser to update the tf of the laser scan or just publish the new tf/laser?

Thank you!

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