From 31f088d8765e87a3347b8d3ee56f4ee6822498a4 Mon Sep 17 00:00:00 2001
From: Vinitha Ranganeni <vinitha@hello-robot.com>
Date: Mon, 16 Oct 2023 09:52:50 -0700
Subject: [PATCH] publish lidar odom wrt the odom frame

---
 stretch_core/launch/stretch_scan_matcher.launch | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/stretch_core/launch/stretch_scan_matcher.launch b/stretch_core/launch/stretch_scan_matcher.launch
index dd1f31d..ba343ce 100644
--- a/stretch_core/launch/stretch_scan_matcher.launch
+++ b/stretch_core/launch/stretch_scan_matcher.launch
@@ -6,8 +6,8 @@
     <remap from="scan" to="scan_filtered"/>
     
     <param name="max_iterations" value="10"/>
-    <param name="fixed_frame" value="map"/>
-    <!-- <param name="fixed_frame" value="odom"/> -->
+    <!-- <param name="fixed_frame" value="map"/> -->
+    <param name="fixed_frame" value="odom"/>
 
     <!-- "Maximum angular displacement between scans, in degrees" -->
     <!--<param name="max_angular_correction_deg" value="45.0"/>-->