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The ROS REP has defined the structure for linking frames together to have one single tree.

As per the REP, you would have a world frame, the child of which would be map, and the child of that would be the odom frame and so on.

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The ROS REP has defined the structure for linking frames together to have one single tree.

As per the REP, you would have a world frame, the child of which would be map, and the child of that would be the odom frame and so on.