The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
The odom frame is a "world-fixed" frame. The (0, 0) point in the odom frame is where your robot was when you started it. So if you turn your robot on, and drive 10 meters forward, then turn left 90 degrees, and then drive 5 meters, your robot's pose in the odom frame is (10, 5) with a yaw/heading of pi/2. The odom frame will not move, because it is "fixed" to the world, and not your robot. The base_link frame is fixed to your robot, so it will move as the robot moves. Note that your robot's pose in the odom frame is equivalent to the odom->base_link transform.
For more information on coordinate frames in ROS, see REP-105.
| | 2 | No.2 Revision |
The odom frame is a "world-fixed" frame. The (0, 0) point in the odom frame is where your robot was when you started it. So if you turn your robot on, and drive 10 meters forward, then turn left 90 degrees, and then drive 5 meters, your robot's pose in the odom frame is (10, 5) with a yaw/heading of pi/2. The odom odom frame will not move, because it is "fixed" to the world, and not your robot. The base_link frame is fixed to your robot, so it will move as the robot moves. Note that your robot's pose in the odom frame is equivalent to the odom->base_link transform.
For more information on coordinate frames in ROS, see REP-105.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
