Change frame

stretch_moveit_config/launch/demo.launch.py

@@ -93,7 +93,7 @@ def generate_launch_description():
                      executable='static_transform_publisher',
                      name='static_transform_publisher',
                      output='log',
-                     arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'map', 'base_link'])
+                     arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'odom', 'base_link'])
 
     # Publish TF
     robot_state_publisher = Node(package='robot_state_publisher',