After finishing the ROS2 Navigation course I am trying to setup my own gazebo simulation with a robot (Ackermann steering) and try to build a map of the world using the cartographer_ros package. What I am struggling with unfortunately is the setup of frames - do I need to publish the map
in the world gazebo model and then bridge that to ROS2 for rviz to register it? Also with the odom
does that have to be linked to the robot or is that linked automatically between the map
and base_footprint
?
My setup is currently both world and robot model in gazebo, is that the right way of doing things or should it be world in gazebo and robot model in urdf/xacro?
Thanks