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Hi, I have used ethzasl_icp_mapping with tilting laser-scanner. But I have not worked with velodyne. Do the velodyne nodes you are launching provide a tf from the "/sensor_frame" to "/odom" frame?
In your case "/odom" frame and "/sensor_frame" are both velodyne.
The node ethzasl_icp_mapping requires the transform "/sensor_frame" to "/odom" frame.
It basically requires some initial guesses for odometry. The package provides uses this guesses and provides corrected odometry using ICP as far as I know.