In which frame has the laser scan data to be

[maxkremmel]

Hi all,
The tf's of my robot look as follows:

As you can see, the tf of the laser scan (velodyne) is above and behind the base_link.
As a result, kiss spits out the odometry in the velodyne frame (you can see that in the following GIF). What do I need to change or to do to get the LiDAR odometry in the base_link frame?

Do I have to convert the lidar data first into the base_link frame?

Thanks in advance.
Max

[nachovizzo]

Just tell the ros node your child frame, for example, child_frame:=base. Maybe related to #92

[nachovizzo]

Please check if this fix your issue #232

Apologize for the delay in the fix!