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answered 2017-05-03 05:01:35 -0600

Sebastian Kasperski gravatar image
  1. Yes.
  2. Maybe continous means updated at a high frequency? Odometry is usually calculated by integrating wheel encoder data or input commands, which will drift away from the real position. GPS is a global localization and not really odometry.
  3. "map" frame is your global localization, provided by a localizer or a SLAM algorithm. "odometry" will drift away from "map" as the odometry error grows over time. (In fact the transformation map->odometry represents the odometry correction caculated by whatever global localization you use) If your odometry is global already (due to GPS), "map" and "odom" will indeed stay aligned.
  1. Yes.Yes. It will point forward from the robot, NOT north (as in ENU).
  2. Maybe continous means updated at a high frequency? Odometry is usually calculated by integrating wheel encoder data or input commands, which will drift away from the real position. GPS is a global localization and not really odometry.
  3. "map" frame is your global localization, provided by a localizer or a SLAM algorithm. "odometry" will drift away from "map" as the odometry error grows over time. (In fact the transformation map->odometry represents the odometry correction caculated by whatever global localization you use) If your odometry is global already (due to GPS), "map" and "odom" will indeed stay aligned.
  1. Yes. It will point forward from the robot, NOT north (as in ENU).
  2. Maybe continous means updated at See Felix' answer for a high frequency? good explanation on this. Odometry is usually calculated by integrating wheel encoder data or input commands, which will drift away from the real position. GPS is a global localization and not really odometry.
  3. "map" frame is your global localization, provided by a localizer or a SLAM algorithm. "odometry" will drift away from "map" as the odometry error grows over time. (In fact the transformation map->odometry represents the odometry correction caculated by whatever global localization you use) If your odometry is global already (due to GPS), "map" and "odom" will indeed stay aligned.
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