Hi everyone,

I followed the tutorial about the navigation stack (https://wiki.ros.org/navigation/Tutorials/RobotSetup#:~:text=The%20%22global_frame%22%2C%20%22robot_base_frame%22%2C%20%22update_frequency%22%2C%20and%20%22static_map%22%20parameters%20are%20the%20same%20as%20described%20in%20the%20Global%20Configuration%20section%20above.)

But I have a question, to which I didn't find an answer on the internet. On section 2.3.3, about the localcostmapparams.yaml, it says

-localcostmap: globalframe: odom

and

-The "globalframe", "robotbaseframe", "updatefrequency", and "static_map" parameters are the same as described in the Global Configuration section above.

but then when I read section 2.3.2 about globalcostmapparams.yaml, I see

globalcostmap: globalframe: /map

I don't understand what should be the globalframe in localcostmapparams.yaml. I would tend to think that it's the same as in globalcostmap_params.yaml but the example in the tutorial says the contrary. And given that odom is drifting from map, the tutorial seems to be giving contradicting information.

So my questions are:

-Is the globalframe meant to be different or identical in localcostmap and in global_costmap? -Why?

Thank you,