robot_base_frame parameter in move_base/amcl

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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 robot_pose_ekf to fuse data from IMU and wheel encoders and get the odom_combined -> base_footprint transformation. As suggested in the above link, in wheel_odometry, odom_combined is the header frame id and base_footprint is the child_frame_id and I have a fixed transformation from base_footprint->base_link . Now my question is what should be the robot_base_frame parameter in global_costmap_params.yaml and local_costmap_params.yaml in move_base? Should it be base_link(this is the default) or base_footprint and why? Also, what should be the base_frame_id parameter in AMCL, base_link or base_footprint?

Thanks in advance.
Naman Kumar