ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
If you don't care about anything but the laser's position in the map, you can skip the extra transform and just specify the frame_id
param when launching the hokuyo_node:
rosrun hokuyo_node hokuyo_node scan:=base_scan _frame_id=base_link
or
<node pkg="hokuyo_node" type="hokuyo_node" name="hokuyo" >
<param name="frame_id" value="base_link" />
<remap from="scan" to="base_scan" />
</node>
I believe you can also specify the frame that gmapping uses, in the same fashion.