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1 | initial version |
Hi,
The transform map -> odom
is being published by the cartographer node, while odom -> base_footprint
by the turtlebot. And yes, these transforms are enough to determine the position of the robot with respect to the map.
The base_footprint
transform is at the "center" of the robot, so the if you add the transforms from map -> odom -> base_footprint
you should be able to obtain the position of the robot.
You can listen to the transforms with the following command:
ros2 run tf2_ros tf2_echo map base footprint
If you want to look at an in-depth explanation of what I explained above, you can take a look at the video I made: https://youtu.be/45WiB3QH3wU