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It seems that your chassis model is centered at 0 in the z-axis. Your chassis_footprint->chassis transform should thus give the height above ground as the z-component.

Are also publishing a nav_msgs/Odometry ?

It seems that your chassis model is centered at 0 in the z-axis. Your chassis_footprint->chassis transform should thus give the height above ground as the z-component.

Are you also publishing a nav_msgs/Odometry ?

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