# Update odom \<-\> base\_link acording ROS tf topic

**URL:** <https://discourse.openrobotics.org/t/update-odom-base-link-acording-ros-tf-topic/48333>\
**Category:** Gazebo Help\
**Tags:** ros2, ignition, fortress\
**Created:** [June 13, 2024, 8:50am UTC](https://discourse.openrobotics.org/t/update-odom-base-link-acording-ros-tf-topic/48333 "2024-06-13T08:50:27Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Agan\_Simsek](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/agan_simsek/32/14437_2.png) [@Agan\_Simsek](https://discourse.openrobotics.org/u/Agan_Simsek)\
**Post date:** [June 13, 2024, 8:50am UTC](https://discourse.openrobotics.org/t/update-odom-base-link-acording-ros-tf-topic/48333/1 "2024-06-13T08:50:27Z")

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Hello,  
I have a running diff\_drive\_controller on real hardware. But I would like to test motor and motor driver behavior while mobile robot in hanging position (wheels not touching ground, able to free return). So I want to create world and mobile robot with a lidar on fortness. I can able to get scan date from gazebo. But now is there any way to change mobile robot position according odom\<\>base\_link tf which is already publishing at ROS2 control side.