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Frame's definition (/odom and /map)

asked 2012-09-25 20:38:06 -0600

moyashi gravatar image

updated 2012-09-25 20:38:51 -0600

Hi, I cannot understand the difference between the frame "/odom" and "/map".
I've already read here ->
however, I couldn't understand.
It seems like the same frame.
Could you explain the difference?

And one more thing.
When I published a transform from "/map" to "/base_link" and launched rviz,
"/map" was shown in a strange position(very far from base_link's origin).
If possible, I'd like to set the position and orientation to a Grid Marker's corner.
How is the position defined?
I don't need to mind it?

Thanks in advance.

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answered 2012-09-25 22:28:55 -0600

michikarg gravatar image

The /odom frame is the place where your robot is initialized, while the /map frame is the origin of your map. Those are usually NOT the same (except your robot is standing at the exact origin of your map when beeing initialized).

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See REP 105 for the details:

joq gravatar image joq  ( 2012-09-26 06:06:29 -0600 )edit

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Asked: 2012-09-25 20:38:06 -0600

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Last updated: Sep 25 '12