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For a robotic application, I get odometry on /odom. However, I don't have a robot state publisher, so I'm publishing my own transforms. I want to know whether they are right:

  1. odom->base_link: identity transform

  2. map->base_link: When tf starts, I note the pose given by odometry. Then as the robot moves to a new position, I take the new odometry readings and compute the new pose. The values in new_pose-old_pose are broadcast.


Originally posted by PKG on ROS Answers with karma: 365 on 2011-07-20

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Originally posted by Ivan Dryanovski with karma: 4954 on 2011-07-20

This answer was ACCEPTED on the original site

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