Should the origin of base_link and odom be the same?
There are many variants of this question and I probably have not stated it precisely. But I am tidying up my Urdf. What is the common sense or conventional way? Should my base_link correspond to the "center" of the robot as a whole (I know this is subjective). Or should it be on the floor/surface? Because publish the transform between odom and my robot, should the transform have the same x and y, but a few centimeters above the floor?
I know "it depends" and there are many ways of doing this. But what's the least surprising way?