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Hi MINGLIBRIAN,

  1. Yes, your understanding is correct.
  2. Sounds about right.
  3. The base_footprint is the projection of the base_link onto the ground plane and is co-planar with map and odom frames. The role of this frame is to bring the base_link to the same plane as map and odom when base_link is not co-planar with map and odom. If base_footprint frame does not exist and base_link is not co-planar with map and odom, when you visualize your world with rviz it seems that your robot is "sinking" in the ground.