Hi all,

I have a mobile robot with IMU, wheel encoders and hokuyo laser. I am following this to set up the transformations and all the frames. I am using robotposeekf to fuse data from IMU and wheel encoders and get the odom_combined -> base_footprint transformation. As suggested in the above link, in wheelodometry, `odomcombinedis the header frame id andbasefootprint` is the childframeid and I have a fixed transformation from `basefootprint->baselink` . Now my question is what should be the robotbaseframe parameter in `globalcostmapparams.yamlandlocalcostmapparams.yaml` in movebase? Should it be baselink(this is the default) or basefootprint and why? Also, what should be the base_frame_id parameter in AMCL, baselink or basefootprint?

Thanks in advance.
Naman Kumar