odometry and navigation

asked 2015-04-23 10:21:23 -0500

sophye_turtlebot gravatar image

Hello, I'm working with turtlebot and i have two questions about stack navigation and odometry:

The first: I want to understand if the odometry affect in the navigation or not, it saw in the navigation stack there is a relationship between the odometry (nav_masgs / Odometry) and the local_planner , I would like to understand what the relationship between them, in another way how robot uses odometry to navigate.

The second: in the tutorial of the stack navigation in the configuration parameter of costmap, I cannot understand what is written according to the global_frame and robot_base_frame in local_costmap_configuration eg what is the difference if i write in the local_costmap_param : global_frame: odom robot_base_frame: base_link and global_frame: / map robot_base_frame: base_link

Thanks in advance

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