Re: System framework and data flow

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/System-framework-and-data-flow-tp1048p1077.html

Hi Yanming,

Yes, if any other modules need to work in /map frame, it should get the transform /map -> /base_link from TF. For example, the global planner of move_base would work in /map frame, but the local planner would work in /odom frame.

cheers,
Mathieu