Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Best would be to wait for a proper answer from Stefan.

My feeling from this code says the correct way would be: Take the relative odometry pose between the time of the getLastScanMatchPose() and the current scan. Then multiply that on the startEstimate to get a new startEstimate.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.