Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Frame's definition (/odom and /map)

asked 2012-09-25 20:38:06 -0500

moyashi

721 ●54 ●64 ●71

updated 2012-09-25 20:38:51 -0500

Hi, I cannot understand the difference between the frame "/odom" and "/map".
I've already read here -> http://ros.org/reps/rep-0105.html#map
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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2012-09-25 22:28:55 -0500

michikarg
2108 ●19 ●37 ●52 http://hcai.in.tum.de/...

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).