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You are missing the odom to base_link transformation. Usually this comes from a combination of wheel odometry, IMU, and other sensors (for example visual odometry). If you want to rely solely on LiDAR, you can use laser scan matching (http://wiki.ros.org/laser_scan_matcher) - with appropriate parametrization - to calculate this transform.
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You are missing the odom to base_link transformation. Usually this comes from a combination of wheel odometry, IMU, and other sensors (for example visual odometry). If you want to rely solely on LiDAR, you can use laser scan matching (http://wiki.ros.org/laser_scan_matcher) - with appropriate parametrization - to calculate this transform.transform. It's easy to set it up.
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