Robot Global Position
Let's say the robot is at the origin(O) at the beginning. The goal is to move the robot to points A,B,C. If the robot is at point A at the first step and the next step I want to move it to B, then it has to go to B directly without going back to the origin.
I guess in ROS, we always have the origin at the robot. Hence, when the robot is at A. I don't know how to move it to B directly without knowing the position of the robot in the map. This comes to my question. I want to transform from robot_base coordinate to global coordinate. I tried rosrun tf tf_echo /map /base_link but it does not work.
the robot global position is published as Odometry. This is the position that robot thinks to have from the initial position. I really suggest you to buy and read the book I suggested you.