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OK i found out where my issue was , after i looked at the info of the node "slam_localization" i noticed that the 2 subscribers created by the transform listener were subscribing to the wrong topic , indeed , they are subscribing to the topic /XPal_2/tf and /XPal_2/tf_static although the topics where the tf are being published are just /tf and /tf_static , so that means either my nodes which are publishing the tf on the topics are missing the namespace either i need to remove the namespace on the node "slam_localization". Anyway i found a work aroud method which is to subscribe / publish the info between the topics /tf , /tf_static and /XPal_2/tf and /XPal_2/tf_static. Hope that helps if anyone is having the same issue.
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