{"action":"closed","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/126","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/126/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/126/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/126/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/126","id":183857446,"number":126,"title":"How to provided tf transforms from map to odom ? just as gmapping did to correct the accumulated error of the odometer","user":{"login":"simplePig","id":9596616,"avatar_url":"https://avatars.githubusercontent.com/u/9596616?v=3","gravatar_id":"","url":"https://api.github.com/users/simplePig","html_url":"https://github.com/simplePig","followers_url":"https://api.github.com/users/simplePig/followers","following_url":"https://api.github.com/users/simplePig/following{/other_user}","gists_url":"https://api.github.com/users/simplePig/gists{/gist_id}","starred_url":"https://api.github.com/users/simplePig/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/simplePig/subscriptions","organizations_url":"https://api.github.com/users/simplePig/orgs","repos_url":"https://api.github.com/users/simplePig/repos","events_url":"https://api.github.com/users/simplePig/events{/privacy}","received_events_url":"https://api.github.com/users/simplePig/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/labels/question","name":"question","color":"cc317c"}],"state":"closed","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-10-19T03:30:52Z","updated_at":"2016-10-19T09:56:27Z","closed_at":"2016-10-19T09:56:27Z","body":"Owing to the accumulated errors of the odometer calculation, the map construction is misplaced and error, but the gmapping package provides an algorithm for reversely correcting odometer data by providing a continuous transition from map to odom, the map construction is very accurate\r\nWhether or not a similar implementation is provided in the cartographer's package, it would be impossible to build an accurate map using odometer without such a conversion transform"}}
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