# topic where the lidar scans are being published # topic where tu publish the odometry estimations # wheter or not to publish the tf::transform (base->odom) # frame_id (tf) of the mobile robot base. A tf transform from the laser_frame to the base_frame is mandatory # frame_id (tf) to publish the odometry estimations # (Odom topic) Leave empty to start at point (0,0) # Execution frequency. See "Planar Odometry from a Radial Laser Scanner. A Range Flow-based Approach. ICRA'16"