# Revision history [back]

Hi,

The transform map -> odom is being published by the cartographer node, while odom -> base_footprint by the turtlebot. And yes, these transforms are enough to determine the position of the robot with respect to the map.

The base_footprint transform is at the "center" of the robot, so the if you add the transforms from map -> odom -> base_footprint you should be able to obtain the position of the robot.

You can listen to the transforms with the following command:

ros2 run tf2_ros tf2_echo map base footprint


If you want to look at an in-depth explanation of what I explained above, you can take a look at the video I made: https://youtu.be/45WiB3QH3wU