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Thx for the links, don't know how I could have overseen section 5.1.5! Now I do at least have a clue, what gmapping needs, and why. But there are still some things that bother me:

1) Do I have to transform the actual values, or is that than by gmapping, if I just give it the right transformation?

2) Do I have to broadcast the transformations or shall I just publish them in the tf topic?

Regards, Lotoreo