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When you generate a map, each frame of the map is created using the origin of the /base_link frame but the combined PCD map (from ndt_mapping) is broadcast using the /map frame since it is a fixed frame and /base_link is not. The /world frame is assumed to be in MGRS (Japanese Rectangular Plane) coordinates and the origin of the /map frame (in the PCD map) is some offset from the origin of the MGRS plane. That offset is the static /world -> /map transform.
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