tf problem. scan samples always plotted wrt origin
Hello, I'm trying to run gmapping over a pionner AT using rosaria and a hokuyo laser. Everything seems to work fine and I'm able to move the robot. However, when the robot acquires the laser measurements they are always plotted in rviz with respect to the origin of coordinates instead of the base_link. I apply some dynamic basic transformations and check that the odometry is represented correctly.
The frame tree is the following: /laser -> base_laser -> base_link -> odom -> map as the basic tf tutorial explains
Do you have any idea about why the laser measurements are fixed with respect to the origin of coordinates while the base_link is moving? Are the transformations chained between them?
Please give us some more informations. Are the transformations base_link -> base_laser and base_laser -> laser static? And if not, who is responsible for publishing them? Where do your coordinatesystems appear in rviz if you turn them on? Maybe a screenshot of rviz and your tf-tree?