robot_pose_ekf and its coordinate system

Hi all, I have a few questions about odometry message and output from robotposeekf relationship to their coordinate system. Please refer to image below.

image description

Thanks in advance for your advice.

Asked by MIN LATT on 2017-06-22 20:47:35 UTC

Comments

Next time: The text in the image is a bit hard to read, so please separate text from image.

Asked by Humpelstilzchen on 2017-06-23 00:36:47 UTC

Answers

The origin of all Odometry messages is the starting position of your robot, so

is correct
is same origin as A, just with different drift.

To transform them into the map frame use a tf listener.

Asked by Humpelstilzchen on 2017-06-23 00:33:55 UTC

Comments

Thanks a lot for your answer.

Asked by MIN LATT on 2017-06-26 22:24:43 UTC