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What you should get from your system is a robot (/base_link) relative pose with a timestamp of a landmark. Ideally you'd put that into a PoseStamped.

In addition, you'd setup amcl to provide (with odom) the /map -> /base_link transform.

If you'd now publish the poses they should already look correct. If you want to maintain and record poses, what you wanna do with tf is transform the poses from their frame (/base_link) into the /map frame and save those poses. They should stay fixed unless updated.