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1 | initial version |
With your config, rviz is transforming each point of the laser scan from the scan
frame to the odom
frame. This requires that the base_link
frame is being updated accurately, because the typical transform chain is scan->base_link->odom
.
Your likely problem is that the base_link
does not actually match where the physical robot moved, so the rendering of the scan in the rviz window appears wrong.