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.

quick question about TF

asked 2013-06-07 19:35:40 -0500

Gazer
136 ●26 ●35 ●42

On the differential drive package it says

    tf -

    Broadcasts the transform between the odometry frame and the robot's base_link.

My question is what is the odometry frame? is the the transformation between base_link and the world?

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2013-06-07 19:59:59 -0500

ayush_dewan

1610 ●20 ●23 ●38 http://ayushdewan.word...

Odometry is the frame of robot's odometry reading. This transform is generally generated by robot itself. Base link of robot is defined w.r.t to odometry. Then odometry is defined w.r.t to map/world, whatever is the fixed frame. Transform between odometry and map/world is to be defined explicitly unless some mapping packages like gmapping is used.

Hope this helps..

edit flag offensive delete link

add a comment

Question Tools

Stats

Asked: 2013-06-07 19:35:40 -0500

Seen: 94 times

Last updated: Jun 07 '13

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

quick question about TF edit

1 Answer

Question Tools

Stats

quick question about TF