How does robot_localization implement tf conversion from / odom to base_link?
I have set the value of the robot_localization odom_frame parameter to "odom_combined" and the base_link_frame to the default value "base_footprint", and I have also set the tf transformation from "base_footprint" to "base_link". After I have performed the tf transformation from "base_footprint" to the sensor, I open the ekf_localization_node, and find that there is no odom or "odom_combined" in the tf_tree,I didn't set up the transformation from "odom_combined" to "base_footprint" anywhere else. at this time. My parameter file is:
### ekf config file ###
ekf_filter_node:
ros__parameters:
sensor_timeout: 2.0
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: false
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false
map_frame: map
odom_frame: odom
base_link_frame: base_footprint
world_frame: odom_combined
odom0_config: [false, false, false,
false, false, true,
true, true, false,
false, false, false,
false, false, false]
odom0_queue_size: 1
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
imu0: mobile_base/sensors/imu_data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
true, false, false]
imu0_nodelay: false
imu0_differential: true
imu0_relative: false
imu0_queue_size: 4
imu0_pose_rejection_threshold: 0.8
imu0_twist_rejection_threshold: 0.8
imu0_linear_acceleration_rejection_threshold: 0.8
imu0_remove_gravitational_acceleration: true