Transform GPS pose to map frame in robot_localization
I tried to using navsat_transform_node in robot_localization to transform gps/fix to the map frame and further fuse with pose estimate provided by SLAM or point cloud matching. I input three topics GPS measurement (gps/fix), SlAM measurement (odometry/filtered) and IMU measurement (imu/data) to navsat_transform_node. However, the output of navsat_transform_node, odometry/gps, did not align well with the SLAM measurement (odometry/filtered). It looks like that odometry/gps was not well transformed to the map frame. Did I miss something in using this node? How to do this transformation correctly?
Have you checked your tf tree? What is the frame for your slam measurements? Who is publishing map->odom?