transformation the laser scan data with robot pose !!!!
hello guys, I want to simulate the bag data that I got from ROS in MATLAB. I separated the pose and range data from the bag file. and I wrote a script to plot the laser data and build a map (I assumed that my poses are correct). when I run my code, It works well, till the robot turns!. at that point, the scan data turns in the opposite direction! till the robot gets straight again. and again when the robot turns again I experience the same problem till the robot gets straight. I don't know whats wrong!!...the transformation I used works well except when the robot turn!!