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What tf frames are required for autonomous navigation?

I am new trying to implement autonomous navigation on my 2WD drive robot. I am acquiring laser scan using rplidar using rplidar_ros, and using the scan with hector_mapping to get odom as well. There is no other source of odometry.

I want to know what tf frames are necessary to implement the navigation stack? Currently I have tf tree which looks like this:

map -> odom -> base_footprint -> base_link -> laser

I see turtlebot and others have very complicated robot_state_publishers. Is that absolutely necessary to do the job I want to do? I'm using ROS Kinetic on Ubuntu 16.04