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1 | initial version |
You can check out the Coordinate Frames Convention.
In a nutshell,
odom
to base_link
is the position of the robot in the inertial odometric frame, as reported by some odometric sensor (like wheel encoders)map
to odom
is a correction introduces by localization or SLAM packages, to account for odometric errors.map
to base_link
is therefore the corrected pose of the robot in the inertial world frame.These are dynamic transforms, and different components of the navigation stack are responsible for publishing them.
2 | No.2 Revision |
You can check out the Coordinate Frames Convention.
In a nutshell,
odom
to base_link
is the position of the robot in the inertial odometric frame, as reported by some odometric sensor (like wheel encoders)map
to odom
is a correction map
to base_link
is therefore the corrected pose of the robot in the inertial world frame.These are dynamic transforms, and different components of the navigation stack are responsible for publishing them.