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Why gmapping needs base_link → odom ?

asked 2013-09-19 07:38:40 -0600

sam gravatar image

In my idea, the frame should be:

map->odom->base link->laser

gmapping says it needs:

<the frame attached to incoming scans> → base_link
    usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher.
base_link → odom
    usually provided by the odometry system (e.g., the driver for the mobile base)

Why it just reverse?

Am I missing something?

Thank you~

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answered 2013-09-19 17:32:15 -0600

tfoote gravatar image

The gmapping specification only requires the ability to transform data from the laser scan frame into the base_link frame and from the base_link into odom frame. It does not specify the exact way that the frames are connected.

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Asked: 2013-09-19 07:38:40 -0600

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Last updated: Sep 19 '13