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how to solve timing problem with laser scan (synchronizing with odometry) in MATLAB with bag file

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hello guys, I want to simulate the bag data that I got from ROS in MATLAB and I wrote a script to plot the laser data and build a map (I assumed that my poses are correct). my problem is related to synchronization and I match the wrong pose to the scan data. after some research I found that I should use the \tf data but I dont know how to use them. do you have any idea how to get the robot pose at the time of sensor reading?

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