{"action":"opened","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1104","repository_url":"https://api.github.com/repos/googlecartographer/cartographer_ros","labels_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1104/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1104/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer_ros/issues/1104/events","html_url":"https://github.com/googlecartographer/cartographer_ros/issues/1104","id":382519875,"node_id":"MDU6SXNzdWUzODI1MTk4NzU=","number":1104,"title":"Map not using Lidar frame as origin.","user":{"login":"Master-Matt","id":20187801,"node_id":"MDQ6VXNlcjIwMTg3ODAx","avatar_url":"https://avatars3.githubusercontent.com/u/20187801?v=4","gravatar_id":"","url":"https://api.github.com/users/Master-Matt","html_url":"https://github.com/Master-Matt","followers_url":"https://api.github.com/users/Master-Matt/followers","following_url":"https://api.github.com/users/Master-Matt/following{/other_user}","gists_url":"https://api.github.com/users/Master-Matt/gists{/gist_id}","starred_url":"https://api.github.com/users/Master-Matt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Master-Matt/subscriptions","organizations_url":"https://api.github.com/users/Master-Matt/orgs","repos_url":"https://api.github.com/users/Master-Matt/repos","events_url":"https://api.github.com/users/Master-Matt/events{/privacy}","received_events_url":"https://api.github.com/users/Master-Matt/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-11-20T06:31:36Z","updated_at":"2018-11-20T06:31:36Z","closed_at":null,"author_association":"NONE","body":"I recently transitioned to a 3d lidar plugin with gazebo, and after switching, My map origin is off.\r\nCartographer still runs fine, but I'm not sure if this is a Gazebo bug or something else.\r\nPicture below shows that scan-matched points look fine, but the map is translated to base_footprint frame as origin, not my lidar_link frame:\r\n![cart_map](https://user-images.githubusercontent.com/20187801/48755634-a0dfca00-ec5b-11e8-9874-6c7436bf5770.png)\r\n\r\n\r\n"}}
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