I have some doubt about frames and tf. My laser report to /scan topic in base_laser frame. The lidar is mounted on top of kinect. And they are at the XYZ = 0,0,1 meter
How can I config demo_hector_mapping.launch to make use of my Lidar? I would like to use rtabmap icp odometry at first.
I have hector slam working so, the second step will be to use it for odometry and make a comparison between them.