what is nav, base_stabilized and base_footprint frame?

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Hi @boon,

ROS uses so called transform trees (tf) to make conversion from one reference frame to another. These transformations could be either static or dynamic. I strongly recommend you to first follow ros tf tutorials. You can also look for hector_slam tutorial to understand these frames visually.

@boon you will need to connect the map, world frames in your launch file

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"  args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

Add this to your launch file for the lidar.