I have imported a turtlebot URDF to a “Simple room” after which I added one Lidar in “base_scan” link of turtlebot and a ROS_Lidar to publish data from the Lidar and visualizing it on RVIZ.
However, my transforms for base_link and others are crossing the Lidar mapping. I don’t understand if the mapping is incorrect or I am not properly able to understand the mapping.
I am attaching a reference image containing TF tree, RVIZ visualization of Lidar and the position of the Turtlebot in the ISAAC Sim. Please note that fixed frame is “world”.