what is the coordinates in robot_localization
Hi Tom/all: As suggested in robot_localization document and REP 103, the imu data is required to be adhere to frame like "x forward, y left, z up", and odom data should adhere to frame like "x east, y north, z up" (which is ENU coordinates). Is that so? The relevant input data should go with the coordinates mentioned above or we need to broadcast transform from imuMsg->frame_id to baselink and odomMsg->frame_id to odom. By the way, what coordinate should GPS data adhere to ? I have no idea whether I'm right. I do appreciate it if someone can enlighten it to me.