tf add

catkin_ws/src/asclinic_pkg/launch/gmapping.launch

@@ -14,11 +14,13 @@
     </node>
   </group>
 
-  <!-- Launch the robot state publisher -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+ 
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0.055 base_link laser" />
+
+  <!-- Static Transform Publisher: odom to base_link -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="odom_to_base" args="0 0 0 0 0 0 odom base_link" />
+
 
-  <!-- Launch the joint state publisher -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
 
   <!-- Start GMapping for SLAM -->
   <node name="slam_gmapping" pkg="gmapping" type="slam_gmapping" output="screen">