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With respect to which frame, robot goal should be set - is it /odom or /base_link or /map ? Out of /odom , /map and /base_link frames which should be the source and target frames in listener.waitForTransform(...) ?
A goal is usually set with respect to /base_link. When you give a 2d_nav_goal in rviz, the frame i.d is set to base link base_link (goal.target_pose.header.frame_id = "base_link").
We wait for transform is between /map and /base_link. It happens this way, the robot_pose_ekf node publishes the transform between /odom and /base_link and the /amcl node creates the /map frame, establishes a connection with /odom and in turn calculates the transform between /map and /base_link. So, when you set a goal on map frame, (it waits for transform between /map and /base_link), calculates the transform and publishes it on the /base_link frame.
Read more here and here for better understanding.
Asked: 2013-05-01 14:18:05 -0600
Seen: 2,153 times
Last updated: May 02 '13
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