So maybe I should clarify.  When I print out the points from the point cloud it-&gt;x and it-&gt;y I get x&#39;s and y&#39;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 &quot;base_laser_link&quot; and not &quot;odom&quot;.  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.<div>
<br>-- <br>Todd Anderson<br>(919) 710-0546<br>Washington University in St. Louis Class of 2011<br>School of Engineering and Applied Sciences<br>
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