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by moving scanner

Do you mean by hand ?

When you say "transform scans" it means that you have to register how your lidar has moved with relation to a global frame (usually map) to correctly create your 3D map. So if you are moving your laser by hand you will need to use a localization node to create the transform between a map frame and your laser frame : see #q209617.

by moving scanner

Do you mean by hand ?

When you say "transform scans" it means that you have to register how your lidar laser has moved with relation to a global frame (usually map) to correctly create your 3D map. So if you are moving your laser by hand you will need to use a localization node to create the transform between a map frame and your laser frame : see #q209617.