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solution Stick a camera on the Chair and use visual tracking. Add to it a lidar to map the Environment around the chair.


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I ended up solving my issue. Turns out, the create_robot package publishes a transform from odom -> base_footprint. I needed to toy around with my transforms so that: slam-toolbox created map -> odom create_robot created odom -> base_footprint On top of those two things, I had an issue with timing where the transform from map -> base_link did not ...


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