NDT Mapping using own odometry

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Hi, I would like to use the ndt mapping to create a PCD file. I am generating my own odometry via robot_localization and would like to use that instead of setting odom->base_link to be 0 0 0 0 0 0 (default in the launch file). I removed that portion but when i visualize the process in rviz2, my robot is ahead and below of the matched points. I've changed frame_id to odom in ndt_mapper_params.yaml as well and set publish_tf to false.