Gmapping question
Could someone explain to me the required frames from http://wiki.ros.org/gmapping
All i get from this ,is that a static_transform_publisher is need to TF the frames
(laser or base_scan or etc.) --> base_link and base_link --> odom
but i already have transformation (coming from arduino code )
which is { odom --> base_link } and i also got static_transform from my LIDAR's launch file which is base_link -->base_scan
Soo for a complete tf tree does it need to be a backwards trasnformation of the frames i already have , or maybe one tf between 2 frames is enough
I think you have what is required. The parent is the
odom, then thebase_linkand thenbase_scan. I do not understand your last sentence. If you are asking if one transform between two frames is enough (like the coordinate ofbase_scanwith respect tobase_link) or if you need two transforms, then I say one transform is enough.Yeah that's what i thought but the tf tree between them is keep breaking while its already providing map . What i mean is that the map is provided and after a few seconds the tf tree is splitting to .. map-->odom and base_link-->base_scan