Hello All,

This isn't so much a problem as I am just curious, I am using hectormapping with octomapserver to make a 3D map of a room. I have a sonar sensor giving me the elevation. I have it all set up and working fine, but there is one slight oddity. The map frame stays at the same elevation as baselink. It looks odd as now the map is rotating and moving around the robot rather than the other way around, and basefootprint appears to be going down through the floor rather than the robot model moving up. I can get around this by setting the fixed frame in RVIZ as base_footprint, but I've seen videos of people doing similar things on YouTube and this doesn't seem to be a problem with anyone else.

I am getting map->basefootprint from hectormapping. I've written a node that subscribes to slamoutpose and height (from the sonar) and publishes the transform from basefootprint->basestabilized. Basestabilized->baselink is provided by hectorimuattitudetotf.

If anyone knows why this is happening, I would appreciate the input. As I've said, I have a workaround so it's not critical, but I am curious.

Thanks!