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After testing various things I managed to solve all of my problems on my own, so I will answer my questions in case someone meets the same issues as me:

1. The connection between the map frame and base_link, as I understand it, is the pose of the base_link frame within the map. So you have to find a topic like /slam_out_pose for example, to get that position of the robot in the map (pose and orientation) and broadcast it. The tf tutorials are really helpful with that, but you also need to have understood what actually happens with the code in the tutorials. It's important to note that this connection between these two frames is not based on odometry, but on the high frequency of the lidar samples.

2. This tutorial helps a lot. Also check this link regarding Quaternion and this link regarding Transforms, they help a lot on writing our own code.

3. The state publisher I have posted works good. No problems have occurred till now, so I think it's correct.

4. This tree linkage doesn't bother the hector's packages to do their job. I solved the issue temporarily with the broadcaster I wrote. I don't know how it got solved by on its own, but the job was done.

Chris

After testing various things I managed to solve all of my problems on my own, so I will answer my questions in case someone meets the same issues as me:

1. The connection between the map frame and base_link, as I understand it, is the pose of the base_link frame within the map. So you have to find a topic like /slam_out_pose for example, to get that position of the robot in on the map (pose and orientation) and broadcast it. The tf tutorials are really helpful with that, but you also need to have understood what actually happens with the code in the tutorials. It's important to note that this connection between these two frames is not based on odometry, but on the high frequency of the lidar samples.

2. This tutorial helps a lot. Also check this link regarding Quaternion and this link regarding Transforms, they help a lot on writing our own code.

3. The state publisher I have posted works good. No problems have occurred till now, so I think it's correct.

4. This tree linkage doesn't bother the hector's packages to do their job. I solved the issue temporarily with the broadcaster I wrote. I don't know how it got solved by on its own, but the job was done.

Chris