why amcl need tf ?

I was just stuying the theory part of amcl and i found that amcl node subscibes /map,/laserscan,/odom and /tf.Everything made sense but why is tf needed here?and what tf does amcl node need

Asked by sidharth.jeyabal on 2022-08-11 12:09:28 UTC

Comments

Answers

/tf contains the transform information for where all sensors are located, among other things. It needs to know where the lidar is located to place the laserscan messages in relation to the robot.

Asked by Per Edwardsson on 2022-08-12 01:50:58 UTC

Comments

Thank you so mucn

Asked by sidharth.jeyabal on 2022-08-16 20:25:50 UTC