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transform base_link to base_laser,map,odom

asked 2011-07-20 00:02:48 -0500

sam gravatar image

updated 2011-07-20 00:03:36 -0500

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~

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answered 2011-07-20 02:29:53 -0500

updated 2015-02-24 10:37:23 -0500

130s gravatar image

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.

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So,I should make a link of (odom,base_link) and(map,odom),but not (map,base_link),right?
sam gravatar imagesam ( 2011-07-20 23:50:38 -0500 )edit

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Asked: 2011-07-20 00:02:48 -0500

Seen: 6,309 times

Last updated: Feb 24 '15