Global frame for global_costmap and local_costmap are different?

edit

Hi everyone,

I followed the tutorial about the navigation stack (https://wiki.ros.org/navigation/Tutor....)

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

-local_costmap: global_frame: odom

and

-The "global_frame", "robot_base_frame", "update_frequency", 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 global_costmap_params.yaml, I see

global_costmap: global_frame: /map

I don't understand what should be the global_frame in local_costmap_params.yaml. I would tend to think that it's the same as in global_costmap_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 global_frame meant to be different or identical in local_costmap and in global_costmap? -Why?

Thank you,