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My current urdf files have base_link and base_footprint as parents and child links , however i want to use amcl , i have another launch file for amcl which publishes the odom frame , but my urdf files is preventing the odom frame from coming out in the tree , because it doesnt have a link.

  1. Do i add an additional link to link my odom frame? If so how do i add the odom link
  2. Is it better to use hector slam to do localisation? i currently alr have a map from gmapping. (because i dont have odom)

thankyou

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