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How to change the /tf topic message published in the data？

asked 2022-11-05 03:46:06 -0600

wugeshenhuaking
35 ●1 ●7 ●16

updated 2022-11-06 07:40:10 -0600

Mike Scheutzow
4918 ●2 ●430 ●45

I use the MIT dataset to evaluate the gmapping algorithm, but the coordinate transformation maintained in the/tf topic published in the dataset is as follows:

image description

I need to use the original odom coordinate system to build /tf instead of odom_ combined. Known as topic/base_ odometry/odom releases the coordinate transformation of odom. Could you please release a new/tf topic, as shown in the figure below:

image description