Hi!
If you using a Navigation stack, you should use an localization node, as
"fake_localization", very useful in simulation, or "amcl" node, or others.
If I don't make a mistake, usually these nodes publish the /map frame. I
suggest also to be careful with the frame's name; sometimes I was stuck with
this!
Just for a test, you could think to use a static transform publisher
http://www.ros.org/wiki/tf#static_transform_publisher
to transform from /map frame (fixed frame respect the map) and your
reference frame (sometimes people use /odom frame's name..)
I hope to suggest something useful!
Enea Scioni
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