Lidar + IMU Odometry (guess_frame_id)

[soldierofhell]

Hi,

I want to use guess_frame_id parameter in icp_odometry node similar to test_velodyne.launch although not "from hand", but with a standard setup with robot (with tfs: odom -> base_link, base_link -> imu, base_link -> velodyne). I'm not sure what frame shoud be in guess_frame_id (base_link?) and if I need imu_to_tf nodelet to create some (artificial?) frame transform.
Thank you for your help in advance,

[matlabbe]

Hi,

Is the odom->base_link coming from another odometry node? If so, guess_frame_id should be set to "odom" (the frame of your odometry), and you can set odom_frame_id of icp_odometry to "odom_icp"

cheers,
Mathieu