Integration Issues with Kimera-PGMO and Kimera-Semantics in Multi-Robot Context

[CSH-1220]

Hi,
I am integrating Kimera-PGMO and Kimera-Semantics with a setup that successfully runs the front-end, back-end, and single-robot VIO, as shown in the attached image. However, I've encountered issues during integration, particularly with frame transformations for Kimera-Semantics in the multi-robot context.

I have followed the instructions in the provided launch file and modified the topic names as needed. My goal is to display kimera_semantics_node/mesh and kimera_vio_ros/odometry in the map of a single robot or to show the mesh in the world coordinates, as depicted in the paper.

Are any specific frame transformations required for Kimera-Semantics in a multi-robot setup? Did I need to include any critical steps for achieving the desired visualization per the paper?
Additionally, my PGMO module shows the following error when receiving dpgo_ros/path messages. Could this be affecting the mesh optimization process?

I would appreciate any insights or guidance on resolving these integration issues.
Thank you!

[CSH-1220]

Do I need to have a specific world frame set up to display my mesh correctly?

[RonghaiHe]

Add a transformation between {robot_name}/map to world may help you, like this #3 (comment)