tf_tree is strange when I launch lidar_localization_ros2 with odom frame #58
Description
Summary
tf_tree is strange when I launch lidar_localization_ros2 with odom frame. There is no map frame in rqt_tf_tree.
I published "odom" frame for navigation2.
And, I used the following configuration.
/**:
ros__parameters:
registration_method: "NDT_OMP"
score_threshold: 2.0
ndt_resolution: 1.0
ndt_step_size: 0.1
ndt_num_threads: 4
ndt_max_iterations: 35
transform_epsilon: 0.01
voxel_leaf_size: 0.2
scan_max_range: 40.0
scan_min_range: 1.0
scan_period: 0.1
use_pcd_map: true
map_path: "/home/xxx/maps/map.pcd"
set_initial_pose: true
initial_pose_x: 0.0
initial_pose_y: 0.0
initial_pose_z: 0.0
initial_pose_qx: 0.0
initial_pose_qy: 0.0
initial_pose_qz: 0.0
initial_pose_qw: 0.0
use_odom: false
use_imu: false
enable_debug: true
global_frame_id: map
odom_frame_id: odom
base_frame_id: base_footprint