Finding map to odom tf

edit

I found the answer to that in amcl code.

1. First you convert map to base position into a transform.
2. Then you get tf::Stamped<tf::pose> object of it
3. Then you reverse it
4. After that you transform the reverse to "odom" frame
5. Then you make a temporary transform object from above result

6. Reverse of transform is result and you broadcast it. Below is the code.

   tf::Stamped<tf::pose> map_to_base (map_position_transform.inverse(), msg->header.stamp, "base_footprint"); listener.transformPose("odom", map_to_base, odom_to_map);

   latest_tf_ = tf::Transform(tf::Quaternion(odom_to_map.getRotation()),
                            tf::Point(odom_to_map.getOrigin()));
   
   tf::StampedTransform map_to_odom(latest_tf_.inverse(),
                                       ros::Time::now(),
                                       "map", "odom");
   br.sendTransform(tf::StampedTransform(map_to_odom, ros::Time::now(), "map", "odom"));