setting of frames in robot-localization pkg with the considertation of ICP-odometer

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setting of frames in robot-localization pkg with the considertation of ICP-odometer

Masoumeh
Hi

If I want to consider icp-odometer, then what is the setting for frames in robot_localization instances??? I really get confused!

ekf-se_odom
odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

&&&

ekf_se_map
  map_frame: map
  odom_frame: icp_odom
  base_link_frame: base_link
  world_frame: map

Is this correct?
the tf tree is sth like this:
frames_RITA.png