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fix global_costmap/global_frame from '/map' to 'map' #17
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this outputs following warnings when running `move_base_gmapping_5cm.launch` on melodic
```
Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
at line 134 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
Warning: Invalid argument "/map" passed to canTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
```
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this outputs following warnings when running
move_base_gmapping_5cm.launchon melodic