Why gmapping needs base_link → odom ?
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~