trying to understan my frames and tf

edit

I have an ASV driven by a pixhawk, running ardurover, and a raspberry pi 3 as a companion computer. Connected to the PI there is an hokuyo lidar.

I want to use IMU, odom and laser data on google cartographer, but I'm a little confuse about my frames and needed TF.

This is pixhawk IMU topic:

header: 
  seq: 324
  stamp: 
    secs: 1455208218
    nsecs: 779422082
  frame_id: "base_link"
orientation: 
  x: -0.0196528313319
  y: -0.0373457958945
  z: 0.507724505298
  w: -0.860485261041
orientation_covariance: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
angular_velocity: 
  x: 0.000183623924386
  y: -0.000642724335194
  z: -2.97694932669e-05
angular_velocity_covariance: [1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07, 0.0, 0.0, 0.0, 1.2184696791468346e-07]
linear_acceleration: 
  x: -0.65704555
  y: -0.02941995
  z: 10.0223963
linear_acceleration_covariance: [8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08, 0.0, 0.0, 0.0, 8.999999999999999e-08]
---

as you can see pixhawk is publish IMU under base_link frame.

This is laser data publish by urg_node:

---
header: 
  seq: 532
  stamp: 
    secs: 1455208419
    nsecs: 333519654
  frame_id: "laser"
angle_min: -2.35619449615
angle_max: 2.09234976768
angle_increment: 0.00613592332229
time_increment: 9.76562732831e-05
scan_time: 0.10000000149
range_min: 0.019999999553
range_max: 5.59999990463
ranges: [0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239, 0.01899999938905239,

Hokuyo lidar frame is laser. The lidar is mounted rotated 90ª CW from X axis of pixhawk and translated 0.5mts to teh right.

finally odom msg:

header: 
  seq: 1556
  stamp: 
    secs: 1455208296
    nsecs: 310980854
  frame_id: "map"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -0.005535364151
      y: -0.267928063869
      z: 0.0810627788305
    orientation: 
      x: -0.0192797667306
      y: -0.0368807024663
      z: 0.50707105612
      w: -0.860898976899
  covariance: [1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1e-06]
twist: 
  twist: 
    linear: 
      x: -0.00152582221037
      y: -0.0375590241358
      z: -0.00955859516847
    angular: 
      x: -7.68475001678e-06
      y: -0.000235044397414
      z: 0.00026510679163
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0 ...