It depends what robot you're running on.  Our standard is to use the 
frame_id "/map" for the coordinate frame of the map. 

Tully

Todd Anderson wrote:
> So maybe I should clarify.  When I print out the points from the point 
> cloud it->x and it->y I get x's and y's that do not make sense based 
> on the laser scans.  I just figured out that to get the laser scan 
> points with reference to the robot I need to transform to 
> "base_laser_link" and not "odom".  This solves one problem, but what 
> do I transform to in order to get points with reference to the global 
> map and not the robot.
>
> -- 
> Todd Anderson
> (919) 710-0546
> Washington University in St. Louis Class of 2011
> School of Engineering and Applied Sciences
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