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quick question about TF

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

Gazer gravatar image

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?

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

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..

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

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Last updated: Jun 07 '13