amcl 接收初始定位信息时的tf变换

RoboMaster / RoboRTS

An open source software stack for Real-Time Strategy research on mobile robots

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amcl 接收初始定位信息时的tf变换 #36

Closed sweetquiet closed 4 years ago

sweetquiet commented 4 years ago

您好链接中odom_frame_是否应该是"/map"呢?https://github.com/RoboMaster/RoboRTS/blob/8d720a1ea0f42895ae7b3d518486f29fe9b7eff6/roborts_localization/localization_node.cpp#L137

XinZhangk commented 4 years ago

I think the tf frames are correct as the parent of the base link frame in the tf tree should indeed be odometry. See here for more details about the design of localization scheme. Especially the figure in section 3.1.6.

sweetquiet commented 4 years ago

@XinZhangk 恩恩我也发现了ros1 和 ros2 的amcl里初始化里都是odom_frame,因为那时可能还没有global_frame,但是接下来 odom transform * pose_old 就变成了map下的pose了呢?难道是一个估计吗?