u/SpecialistInside3769

https://reddit.com/link/1tbuxmk/video/rpjibnzfxv0h1/player

I'm using ROS2 Humble with RPLidar and RViz2.

The robot TF moves correctly, but the LaserScan also rotates/moves together with the robot instead of staying fixed to the environment.

What I checked:

• Fixed Frame = map
• /scan frame_id = laser_link
• base_link -> laser_link TF is correct
• LiDAR data is received correctly in real time

https://preview.redd.it/mzeqn0e1nv0h1.png?width=574&format=png&auto=webp&s=e18c19d58bb7ea2ea788c6594c2d920925d226ea