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odom is an inertial frame defined in REp 105 It can be initialized anywhere in any orientation, but for ease of use usually it's x forward y left z up under the robot's initial position.

Nominally the base_footprint is the projection of the robot's shape into a 2D form on the ground. Usually this is approximated as a set of primatives (sometimes one) in the ground plane directly under the base_link in the XY plane.

You can/should use any/all sensors to compute the best odometric updates for your robot. They will provide the transform from odom -> base_link.

When you consider a robot which is tall but might change to a recumbant position the footprint extend to make sure to remain a bounding box if using the footprint for navigation. Note the coordinate frame will not really update as it will still be the projection of the base_link (recommended attached to the waist) into the XY plane.

odom is an inertial frame defined in REp REP 105 It can be initialized anywhere in any orientation, but for ease of use usually it's x forward y left z up under the robot's initial position.

Nominally the base_footprint is the projection of the robot's shape into a 2D form on the ground. Usually this is approximated as a set of primatives (sometimes one) in the ground plane directly under the base_link in the XY plane.

You can/should use any/all sensors to compute the best odometric updates for your robot. They will provide the transform from odom -> base_link.

When you consider a robot which is tall but might change to a recumbant position the footprint extend to make sure to remain a bounding box if using the footprint for navigation. Note the coordinate frame will not really update as it will still be the projection of the base_link (recommended attached to the waist) into the XY plane.

odom is an inertial frame defined in REP 105 It can be initialized anywhere in any orientation, but for ease of use usually it's x forward y left z up under the robot's initial position.

Nominally the base_footprint is the projection of the robot's shape into a 2D form on the ground. Usually this is approximated as a set of primatives primitives (sometimes one) in the ground plane directly under the base_link in the XY plane.

You can/should use any/all sensors to compute the best odometric updates for your robot. They will provide the transform from odom -> base_link.

When you consider a robot which is tall but might change to a recumbant recumbent position the footprint extend to make sure to remain a bounding box if using the footprint for navigation. Note the coordinate frame will not really update as it will still be the projection of the base_link (recommended attached to the waist) into the XY plane.