odom frame in navsat_transform_node in case of quasi mobile platform

asked 2019-06-14 11:59:23 -0500

akosodry gravatar image

Hi,

(I read the REP105 multiple times, but could not figure out in the following particular case what is the role of the frames and how to set them up)

I have a robotic arm that is going to be attached to a mobile platform,

but this mobile platform is controlled independently, so 1) i cant influence its position and 2) i don't know basically the position of this mobile platform (no encoder feedback what mobile robots have).

I want to use GPS+IMU in order determine the pose of the base_link frame of my robotic arm. I'm learning about the robot_localization package + navsat_transform_node but i dont really understand what should be the odom frame in my case?

Currently i have only the following frames:

world (which is just an dummy/empty link)
  base link
    link_1
      link_2, etc..

I don't have any /odom topic nor odom frame like mobile robots do.

Can you please explain in this particular case how should i extend the urdf in order to have an odom frame/topic that is required by the navsat_transform_node?

Thank you in advance.

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