working on robot5

graph_localization/launch/3d_mcl_ncfm2018.launch

@@ -66,6 +66,7 @@
 
 <node name="occupancy_map_server" pkg="map_server" type="map_server" args=" $(find graph_map)/maps/ncfm.yaml" output="screen" if="$(arg publish_map)">
   <remap from="/map" to="/maps/map_laser2d"/>
+  <param name="~frame_id" value="map_laser2d"/>
 </node>
 
 <group if="$(arg rviz_enabled)">

graph_map/launch/open_map/graph_map_server.launch

@@ -8,7 +8,7 @@
   <param name="file_name" value="$(arg file_name)"/>
 </node-->
 <!--node pkg="rviz" type="rviz" name="rviz" args="-d $(find graph_map)/rviz/showMap.rviz" /-->
-<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 world map_velodyne 100" />
+<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 world map 100" />
 
 </launch>