fix(odom_server): apply cloud2base transform to local map#507
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josepablovr wants to merge 1 commit into
Open
fix(odom_server): apply cloud2base transform to local map#507josepablovr wants to merge 1 commit into
josepablovr wants to merge 1 commit into
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This PR fixes a bug where the local map (kiss/local_map) was misaligned in RViz when using a custom base_frame (like base_link).
Changes:
Now, the local map correctly aligns with the robot's actual base origin instead of being shifted by the sensor offset.
Before
After
Tested on ROS2 Jazzy
Closes #506