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I know, I should use the "eca_a9/base_link" frame_id instead of "eca_a9/base_footprint". I'm not very familiar with the mean of frames, and I don't know why "base_footprint" only has x and y, and "base_link" has x,y,z. Now, I can work normally after useing the "eca_a9/base_link" frame_id.

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