Revision history [back]

If you just want to visualize the robot inside the map you can change the "fixed frame", instead of map it should be one of your robot frames... (assuming you've defined transformations between the differents links of your robot).

If you want to move between the map and represent correctly the position of the robot (updating it while you move) you need to run a localization node, as the user Mig said, which will provide the transform between your robot's base link and the map.