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Transforms are not required to be fixed; they can be variable, such as the relationship between the robot and the world, or the position of a joint in an arm.
The odom frame represents the starting point of the robot, and the transform to base_link represents the current position of the robot as measured by odometry.
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Transforms are not required to be fixed; they can be variable, such as the relationship between the robot and the world, or the position of a joint in an arm.
The odom frame represents the starting point of the robot, and the transform to base_link represents the current position of the robot as measured by odometry.
[UPDATE 1]
The nav_msgs/Odometry message (odom variable) is used by the base local planner in the navigation stack to plan the next few seconds of the robot's trajectory; it contains additional information about the motion of the robot such as velocity that helps the planner achieve smoother trajectories.
The odom frame (odom_trans variable) can be used when you want to transform sensor measurements into a stationary frame. It is also used as the basis for the map frame when using AMCL for localization.
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