# Fiducial Slam with Lidar and URDF - TF issue

**URL:** <https://forum.ubiquityrobotics.com/t/fiducial-slam-with-lidar-and-urdf-tf-issue/450>\
**Category:** General Questions\
**Created:** [January 27, 2020, 8:25pm UTC](https://forum.ubiquityrobotics.com/t/fiducial-slam-with-lidar-and-urdf-tf-issue/450 "2020-01-27T20:25:22Z")\
**Posts on this page:** 1\
**Showing post:** 5

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**Author:** ![WayTooManyHobbies](https://forum.ubiquityrobotics.com/letter_avatar_proxy/v4/letter/w/e68b1a/32.png) [@WayTooManyHobbies](https://forum.ubiquityrobotics.com/u/WayTooManyHobbies)\
**Post date:** [January 28, 2020, 7:52pm UTC](https://forum.ubiquityrobotics.com/t/fiducial-slam-with-lidar-and-urdf-tf-issue/450/5 "2020-01-28T19:52:54Z")

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I’m now trying to use slam\_toolbox in concert with the lidar to provide odometry to use with fiducial\_slam. The transforms look better, but I still don’t get the other fiducials on the map. My tf frames are shown here - anyone spot where I’m being dense?

 ![frames](https://frm.ubiquityrobotics.com/uploads/default/original/1X/d2723427e58063487b842a8f53c1c583e006a4d9.png)

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