Setting up your robot using tf - GigaFlopsis/rc_car_ros GitHub Wiki

TF of your robot must be configured according to this page.

If you are fully repeating my project, you just need to set the robot parameters in the file: rc_bringup/launch/tf.launch in accordance with this instruction.

Changing args for this lines:

<!-- base_footprint to base_link -->
<node pkg="tf" type="static_transform_publisher" name="base_footprint_to_base_link" 
      args="0 0 0.15 0 0 0 base_footprint base_link 10"/>
<!-- base_link to base_laser -->  	
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser_link" 
      args="0.035 0 0.06 0 0 0 base_link laser 10" />

You can look tf trees if you run rqt_tf_tree

rqt_tf_tree

There are 2 correct tree options:

1. When you create a map using hector_slam (rc_bringup/launch/create_map.launch):
   

2. When you launch Navigation of a known map (rc_bringup/launch/bringup.launch):