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On 04/02/2010 11:44 AM, Josh Faust wrote:
> 
> 
>     fake_localization does not appear to be using
>     TransformListener::resolve().
> 
> 
> None of what it's publishing needs it.  The transforms get resolved
> automatically in TransformBroadcaster, and amcl_pose and particlecloud
> both are in the global /map frame (which should probably be
> parameterized +  resolved, but that's a separate issue).
> 
> Josh
> 
> 
> 
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It seems that if you don't resolve base_footprint is complains about it being not fully qualified and does not correctly
work with multiple robots.
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