How to merge two LaserScans to one LaserScan with different frame_ids
Hello everbody,
I have to implement a mobile robot which contains two lasers (sensor_1 and sensor_2).
sensor_1 has the topic /scan_1 and sensor_2 has the topic /scan_2.
The scans from my sensors should captured in an output topic "scan" which should reference to the specified frame_ids (sensor_1 and sensor_2).
The problem on my mobile robot is that one sensor is placed in the front left and the other sensor is placed in the back right. Therefore, I cannot use the common frame base_link for both sensors, because a map is created from the base_link and not from the respective sensors.
Is there maybe a solution for this?
Thank you in advance! I appreciate your help!