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Frame in which Goal should be set

asked 2013-05-01 14:18:05 -0500

Devasena Inupakutika gravatar image

updated 2014-01-28 17:16:24 -0500

ngrennan gravatar image

With respect to which frame, robot goal should be set - is it /odom or /base_link or /map ? Out of /odom , /map and /base_link frames which should be the source and target frames in listener.waitForTransform(...) ?

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answered 2013-05-02 06:44:59 -0500

prasanna.kumar gravatar image

updated 2013-05-02 12:00:21 -0500

A goal is usually set with respect to /base_link. When you give a 2d_nav_goal in rviz, the frame i.d is set to base link base_link (goal.target_pose.header.frame_id = "base_link").

We wait for transform is between /map and /base_link. It happens this way, the robot_pose_ekf node publishes the transform between /odom and /base_link and the /amcl node creates the /map frame, establishes a connection with /odom and in turn calculates the transform between /map and /base_link. So, when you set a goal on map frame, (it waits for transform between /map and /base_link), calculates the transform and publishes it on the /base_link frame. image description
Read more here and here for better understanding.

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Asked: 2013-05-01 14:18:05 -0500

Seen: 2,020 times

Last updated: May 02 '13