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how can I publish a map frame to connect to the base_link

asked 2020-08-30 12:29:21 -0500

Ivan_sun
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hi, there! I am a new master in ROS. I want to plot the trajectory of the feet of my robot in Rviz. But the error shows there is no map frame. The original frame is the base_link. So the robot is keep walking in place (origin point). how can I publish a map frame to connect to the base_link. For my task (plot the trajectory of the robot). I don't think I need odom frame.

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