seeking clarity regarding the 'world_frame' parameter in ekf_localization node
I have spawned two husky bots (namespaced husky_1
and husky_2
) in the Gazebo
world. I am using two ekf_localization
nodes (from the robot_localization package) to produce the husky_1/odom -> husky_1/base_link
and husky_2/odom -> husky_2/base_link
transform.
The ekf_localization
node loads the parameters from a localization.yaml
file.
This file has 2 parameters named odom_frame
and world_frame
. I understand what I need to set as odom_frame.
I am seeking clarity regarding what needs to be go in the world_frame
parameter - when should we use odom
and when should we use map
?