# World and Map Frame for a real robot

I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and IMU, the transforms are supposed to be static and I have defined them using the following:

static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms


How do I define and publish world and amp frame? How do I define the dynamic transforms between world frame and base link?

• thank you for your answer. I am working on a cable driven robot which is deployed on a small agricultural farm. I have successfully integrated the static transforms however, I am unsure about how to publish the /odom frame. Which package should I use to publish odometry using IMU and GPS? I dont have encoder motor to estimate wheel odometry. And later, how do you suggest creating a map of the agricultural field? Jan 11 at 6:32