# Finding map to odom tf

Hi,

So I know my robots position in map frame and I know its position in odom frame. How can I get tf which translates map-odom? I know package like amcl will give you pose in map and also give map-odom tf. I am making my own localization algorithm and can calculate my position in map, and I have got odom-baselink tf, but haven't figured out how to calculate map-odom tf. I know I can run mathematical equations to calculate it, but is there any function in rospy transformations of even roscpp that might automatically handle it?

Thank you