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Hi,

move_base doesn't require any odometry as per the diagram in the document (couldn't get the image link to work). However, it is the local_planner that requires information about your motion (specifically velocity so that it can extrapolate a dynamic path). I am unsure however, move_base might require a transform from base_link->odom->map. This should be done anyway if you have an odometry message and is definitely a pre-requisite before attempting navigation.

Perhaps you could use robot_localization to provide this transform and give an odometry message after accounting for noise. I have never used laser_scan_matcher myself, however perhaps you could use an Iterative Closest Point (ICP) estimate if you aren't happy with the results of the CSM estimate?

Hi,

move_base doesn't require any odometry as per the diagram in the document (couldn't get the image link to work). However, it is the local_planner that requires information about your motion (specifically velocity so that it can extrapolate a dynamic path). I am unsure however, move_base might require a transform from base_link->odom->map. This should be done anyway if you have an odometry message and is definitely a pre-requisite before attempting navigation.navigation. Of course, the local planner is a part of move_base but I would segment it if you're implementing it so you can identify issues in a particular section.

Perhaps you could use robot_localization to provide this transform and give an odometry message after accounting for noise. I have never used laser_scan_matcher myself, however however, perhaps you could use an Iterative Closest Point (ICP) estimate if you aren't happy with the results of the CSM estimate?