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1 | initial version |
It seems like my initial understanding was correct - chassis -> map transforms were already published by Slam Toolbox, I just had to select map
as a Fixed Frame in Rviz.
The second problem was not using the sim time in Slam Toolbox, so the map was published with the system's timestamp, so the transform only worked in one direction (I could select odom_demo
as a fixed frame in RViz, but not the map
).
Switching to sim time and checking Use Timestamp
in RViz for the Map
solved the problem.