ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
I have something similar to item 2 in this question. The initial pose in robot (/odom topic) is '0' although in stage world is another (defined in .world file).
For item 3 you must set both in .world file for stage and in mapserver the reference for the map origin. (Are you using mapserver?)
For item 1 those tf are published because the stageros node was made for doing so. You can ignore those that are not useful to you. Or if you like, you can make a custom simulator based on rosstage (I'm now trying to doing this to solve my issue).