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@@ -15,10 +15,10 @@
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<arg name="scan_topic" default="/scan" />
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<arg name="map_size" default="512" />
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+ <!-- startup ydlidar -->
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<include file="$(find ydlidar)/launch/lidar.launch" />
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<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
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-
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<!-- Frame names -->
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<param name="map_frame" value="$(arg map_frame)" />
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<param name="base_frame" value="$(arg base_frame)" />
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@@ -54,5 +54,7 @@
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<param name="use_tf_pose_start_estimate" value="true" />
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<param name="tf_map_scanmatch_transform_frame_name" value="$(arg map_scanmatch_frame_name)" />
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</node>
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+
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+ <node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /map /odom 100"/>
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</launch>
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