how to use the code

[panyu3258221348]

Hello, I am a student and I am trying to deploy Kinematic-ICP on my wheeled robot. However, I found the tutorial on your GitHub not clear enough, so I would like to consult on the specific deployment steps. For example, my robot's code currently publishes a transform from the odom coordinate system to the base_footprint coordinate system, but when I directly ran your code with ros2 launch kinematic_icp online_node.launch.py lidar_topic:=, I noticed that there was no change in the TF tree

[tizianoGuadagnino]

Hi, you additionally need a tf between the LiDAR and the base_link \ base_footprint of the robot. The updated pose cannot be published as a tf connecting odom and base_link , has this is not allowed in ROS. Instead, the updated transformation is published under the odom_lidar frame.

[panyu3258221348]

Dear tizianoGuadagnino ，thank you very much for your reply. This is my TF tree. I am not currently publishing odom->base_footprint. My understanding is that your kinematics package will publish odom->odom_lidar->base_footprint?

[panyu3258221348]

I should describe in detail what is going on with my bot, below is my normal tf tree that implements navigation. But I ran your code and gave the topic to the radar, but there was no change in the tf tree, and I found that there were no nodes subscribed to kinematic_icp published topics when I checked with the rqt_graph tool. What can I do, thank you