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Hello guys,

I modified the stageros code in order to fix this problem. The code can be accesed here. Not all problems were solved, I think that /base_link still wrong. But at least /base_pose_ground_truth topic is working fine. The stageros code is very clear and pretty easy to modify.

Another way to solve this problem is to use an localization system, like amcl. But note that amcl has a significant computational cost and it publishes geometry_msgs/PoseWithCovarianceStamped messages, not nav_msgs/Odometry.

Hello guys,

I modified the stageros code in order to fix this problem. The code can be accesed here. Not all problems were solved, I think that /base_link still wrong. But at least /base_pose_ground_truth topic is working fine. The stageros code is very clear and pretty easy to modify.

Another way to solve this problem is to use using an localization system, like amcl. But note that amcl has a significant computational cost and it publishes geometry_msgs/PoseWithCovarianceStamped messages, not nav_msgs/Odometry.