gmapping doesn't take /tf as ground truth while building the map?
Hello, I am using gmapping to build laser scan map here, while I found out that the communication between /slam_gmapping and /tf is bilateral:
Test gmapping on the bagfile, I extract the base_link position of tf-tree relative to map, and end up with the trajectory comparison as below. In gmapping case, the position of base_link starts getting more and more random after the first few seconds.
therefore it could be expected that the final map is totally messed up