Hi everyone. I am relatively new to ROS. I have an Orbbec Astra camera, and I use the following line to make a node to obtain the images:
$ roslaunch astra_launch astra.launch
It finds my device, and I can see the depth and RGB images in rviz. Then I use depthimage_to_laserscan to get the laser scan data:
$ rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw
Again when I add 'LaserScan' in rviz, I can see the output in /scan topic. The next step is implementing gmapping, and my problem starts here. I have read a lot about gmapping needing tf to transform the coordinates, but I couldn't implement it (tried and all I get is "No map received" in rviz), and I have no idea how to do it. I would be very thankful if you help me with the transforms needed, and how to implement them.
Cheers!
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