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odom and base_link frames are far - localization

asked 2022-04-21 03:44:22 -0500

sal gravatar image

I have an imu and gps only and i want use them for localization. I am using robot_localization ekf node. its setting is similar to this. when I view the tf on rviz, odom tf and base_link tf are far away from each other. I do not understand why?

1) why they are far from each other?

2) how to make sure that my robot is localizing correctly?

3) I do not understand how gps's data and odom are related. like when I view it on rviz odom will be at origin right? but how it is related to the gps coordinates?

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answered 2022-04-21 16:54:55 -0500

prajwal98 gravatar image
  1. Odom frame is fixed in a given map, and its origin is at starting position of the robot. when you move your robot around base_link changes (base link attach to the robot) , but Odom will remain fixed wrt to the given map. similar question asked here odom-not-aligned-with-base-link
  2. I think you need to amcl amcl package for localization ,you can also look at here gps_amcl ,this gps_amcl package is based on amcl which uses gps data to localize, you can take a hint from there.
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Thank you for responding. I have some questions about gps_amcl I did not get how the map is related to the gps data in this package?

like how the actual longitude and latitude are related to the map?

sal gravatar image sal  ( 2022-04-23 17:32:34 -0500 )edit

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Asked: 2022-04-21 03:44:22 -0500

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Last updated: Apr 21 '22