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I find it easiest to make a class for stuff like this, where you have data you want to use between callbacks, or your want to publish a message inside of another callback. For example, your class might look something like (in the header:) class IMUIntegrator { public: void start(); private: void imu_callback(const your_imu::Message::...


1

Based on your configuration, you are trying to create map -> odom -> /thrbot/base_link. But you do not have a map frame. Looking at your oroginal TF, you should instead create world -> odom -> base_footprint. I think your configuration should be: odom_frame: odom base_link_frame: /thrbot/base_footprint world_frame: world EDIT: as ...


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