Slam_gmapping #434
Description
Hi,
I'm trying to generate a map using slam_gmapping, but I seem to have problems getting the map to work.
Where is what I what I have understood so far:
FAST_LIO publishes camera_init -> body TF. The 3d point cloud which is published under /cloud_registered with header frame camera_init .
I have used this 3D point cloud and created a 2D laser scan using pointcloud_to_laserscan package, With the header frame camera_init. It seems to be working alright. I am testing the system using the rosbag outdoor_Mainbuilding_10hz_2020-12-24-16-38-00.bag.
In order to use gmapping I need the odom -> base_link -> lidar_frame.
I have given the following params to gmapping.
My issue is gmapping doesn't seem to extend the map from the origin. It just seems to be rotating around the axis when the drone is rotating. img attached. 
I'm sure I have unwittingly made plenty of errors in my workflow. I appreciate if anyone can point them out or suggest a better way of getting gmapping(and navigation) to work with Livox Lidars.
Thank you.