# Revision history [back]

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 130s 10200 ●197 ●309 ●320 http://www.linkedin.co...

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 introduced 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.