Using slam_gmapping for an extern simulator
Hi,
I have my own simulator and I would like to use slam_gmapping package. I understood that I have to publish to two topics /scan and /tf. I understood the data sent to /scan, but /tf is a transformation, I understood how tf works with the ros tutorial but what data, transformation are expected ? a frame_id and a child_frame_id are requiered for each message. How can I decide which frame I need ? How to build the tree ? I saw that may be a basic tree is map -> odom -> base_link but which correspond to what ? I tried to publish to /scan and /tf but the gmapping doesn't initialize at all and answers me with a warning : I tried to figure it out, but I am a little desperate now. What did I miss ?
Thank you,