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The coordinate frames for ardrone_autonomy are given in the documentation and conform to the conventions given in REP-103.

As for how the odometry is calculated, again, from the documentation:

Odometry data

New in version 1.4.

The driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). The data is published as nav_msgs/Odometry messages to ardrone/odometry topic. The corresponding TF transform is also published as odom -> base transformation.

So, basically the odometry is calculated using dead reckoning. It's noisy because that's just the nature of dead reckoning.

The coordinate frames for ardrone_autonomy are given in the documentation and conform to the conventions given in REP-103.

As for how the odometry is calculated, again, from the documentation:

Odometry data

New in version 1.4.

The driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). The data is published as nav_msgs/Odometry messages to ardrone/odometry topic. The corresponding TF transform is also published as odom -> base transformation.

So, basically the odometry is calculated using dead reckoning. It's noisy because that's just the nature of dead reckoning.


Update:

You can add a tf frame and visualize that in RViz. Please refer to the tf tutorials

The coordinate frames for ardrone_autonomy are given in the documentation and conform to the conventions given in REP-103.

As for how the odometry is calculated, again, from the documentation:

Odometry data

New in version 1.4.

The driver calculates and publishes Odometry data by integrating velocity estimates reported by the drone (which is based on optical flow). The data is published as nav_msgs/Odometry messages to ardrone/odometry topic. The corresponding TF transform is also published as odom -> base transformation.

So, basically the odometry is calculated using dead reckoning. It's noisy because that's just the nature of dead reckoning.


Update:

You can add a tf frame and visualize that in RViz. Please refer to the tf tutorials

to learn how to do that.