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Yes, you can see here on the picture below, where the robot info goes.

Yes, you can get it from /tf topic.

You can read more about the state estimate here, in Nav2 documentation:

• https://navigation.ros.org/concepts/index.html?highlight=odom#state-estimation The goal of odometry is to provide a smooth and continuous local frame based on the robot's motion. However, it will drift over time as errors accumulate. Odometry map->odom can "jump" between values, but is usually more precise - it is provided by the positioning system (localization, mapping, SLAM).

I don't know about any differences between the mentioned versions of ROS2 (Foxy, Galactic, Humble) - the interface is really similar or overall the same.

Yes, you can see here on the picture below, where the robot info goes.

Yes, you can get it from /tf topic.

You can read more about the state estimate here, in Nav2 documentation:

• https://navigation.ros.org/concepts/index.html?highlight=odom#state-estimation https://navigation.ros.org/concepts/index.html?highlight=odom#state-estimation

The goal of odometry is to provide a smooth and continuous local frame based on the robot's motion. However, it will drift over time as errors accumulate. Odometry

On the other side, transformation map->odom can "jump" between values, but is usually more precise - it is provided by the positioning system (localization, mapping, SLAM).

I don't know about any differences between the mentioned versions of ROS2 (Foxy, Galactic, Humble) - the interface is really similar or overall the same.