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1 | initial version |
what you have will work.
The essential transforms are the map to odom transform:
map -> odom
the odom to robot transform:
odom -> base_footprint
and then robot transform to the published frames of any sensor data, which in your case is just:
base_link -> laser
Most robots end up with a lot of static transforms, because their are usually many small parts seperating the transform from base_footprint to whatever sensors the robot has, so instead of base_link -> laser, you end up with transforms that have more degrees of seperation, like this:
base_link ->chassis->laser_mount->laser
2 | No.2 Revision |
what you have will work.
The essential transforms are the map to odom transform:
map -> odom
the odom to robot transform:
odom -> base_footprint
and then robot transform to the published frames of any sensor data, which in your case is just:
base_link -> laser
Most robots end up with a lot of static transforms, because their are usually many small parts seperating the transform from base_footprint to whatever sensors the robot has, so instead of base_link -> laser, you end up with transforms that have more degrees of seperation, like this:
base_link ->chassis->laser_mount->laser
But those degrees of seperation aren't necessary, all that matters is that navigation has a way to transform from your robot's base frame to the sensor frame.
3 | No.3 Revision |
what you have will work.
The essential transforms are the map to odom transform:
map -> odom
the odom to robot transform:
odom -> base_footprint
and then robot transform to the published frames of any sensor data, which in your case is just:
base_link -> laser
Most robots end up with a lot of static transforms, because their are usually many small parts seperating the transform from base_footprint to whatever sensors the robot has, so instead of base_link -> laser, you end up with transforms that have more degrees of seperation, like this:
base_link ->chassis->laser_mount->laser
But those degrees of seperation aren't necessary, all that matters is that navigation has a way to transform from the sensor frame to your robot's base frame to the sensor frame.