ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

7

transform base_link to base_laser,map,odom

asked 2011-07-20 00:02:48 -0600

sam
2570 ●233 ●269 ●290

updated 2011-07-20 00:03:36 -0600

I know the meaning of transform base_link to base_laser.

But what is the meaning of transform base_link to map?

What is the meaning of transform base_link to odom?

Because I need the meaning to set the correct value in navigation program.

Thank you~

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

15

answered 2011-07-20 02:29:53 -0600

Ivan Dryanovski

flag of United States of America

4954 ●52 ●70 ●86 http://robotics.ccny.cuny.edu/

updated 2015-02-24 10:37:23 -0600

10937 ●203 ●339 ●330 http://www.linkedin.co...

You can check out the Coordinate Frames Convention.

In a nutshell,

odom to base_link is the position of the robot in the inertial odometric frame, as reported by some odometric sensor (like wheel encoders)
map to odom is a correction introduced by localization or SLAM packages, to account for odometric errors.
map to base_link is therefore the corrected pose of the robot in the inertial world frame.

These are dynamic transforms, and different components of the navigation stack are responsible for publishing them.

edit flag offensive delete link

Comments

4

So,I should make a link of (odom,base_link) and(map,odom),but not (map,base_link),right?

sam ( 2011-07-20 23:50:38 -0600 )edit

Please, how can I access /map to /base_link tfs, that generated during gmapping ? I am looking forward your suggestion.

Thanks in advance.

Zuhair95 ( 2022-05-24 19:02:52 -0600 )edit

Question Tools

2 followers

Stats

Asked: 2011-07-20 00:02:48 -0600

Seen: 9,698 times

Last updated: Feb 24 '15

Related questions

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2