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Thanks for your response :) what I understood so the only role of the robot_poses_ekf is the transformation which he offers between odom combined and basefootprint. So in the stack navigating we didn't need to work with odom_combined ? we must keep the odom parameter (for example for the local costmap in the global_frame) in fact my work is to compare two trajectories done by a robot one with Odom and the other with the odom_combined.