I'm trying to build a system utilizing gmapping and laser_scan_matcher ( laser_scan_matcher to improve the odometry of my robot). I've already made the system work utilizing the bag that came with laser_scan_matcher. Using
Fixed_Frame: odom Base_Frame: base_link
But when I try to use the same setup in conjunction with stage, a concurrent tf transform problem arises.
I kind of understand the problem the laser_scan_matcher publishes the odom to base_footprint and stageros does also.
But I'm lost how to solve it i tried to modify stageros to not publish the transform but laser scan matcher needs the inicial transform.
Thanks in advance
Post score: 1
Comment by Brian Gerkey on 2011-10-31:
stageros uses hardcoded frame names. But
gmapping's frame names are configurable via parameters. Can you change the frame names used by
laser_scan_matcher? If so, you should be able to configure the system to run all three components without conflicts.