What is the frame of '/move_base/NavfnROS/plan' in ros nav stack

asked 2019-01-25 15:10:30 -0500

kllysin gravatar image

I am trying to get the ros nav stack running on my robot. I tried to plot out the global (/move_base/NavfnROS/plan ) and local plan (/move_base/TrajectoryPlannerROS/global_plan) from a bag I have recorded. But the paths have different co-ordinates. Is this because they have diffeent frames?

To my understanding, the local plan is a portion of the global plan that the robot is trying to follow and hence I concluded that they would have the same co-ordinates.

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