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hi, i do not have a odom frame and wanna use a local costmap. my question is what should i use instead ? my tf tree is /map-> Nav -> Base_footprint -> base_stabilized -> base_link i do not have any idea in all tutorials and in the doku the /odom is used... what can i use instead ?


Originally posted by pkohout on ROS Answers with karma: 336 on 2012-07-25

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Comment by Lorenz on 2012-07-25:
What is Nav?

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The costmap needs to be in a fixed frame, i.e. frames that do not move in the world. Normally, only map and odom are fixed frames and since you do not have odom, using map should be fine.

The reason why odom is used in map is that map can "jump" because of the particle filter based localization algorithm. If that happens, obstacles get sort of blurred because different cells are set in the costmap. Odometry is continuous, i.e. no jumps can happen and the costmap isn't blurred.


Originally posted by Lorenz with karma: 22731 on 2012-07-25

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Original comments

Comment by pkohout on 2012-07-25:
ok thanks, now i understand that all a little bit more. I use hector quadrotor so i do not know what /nav is exactly but i was watching in rviz an /nav is fixed...i do not move with the rest...should i use /nav or /map ? i have read in other questens that /nav is the odom frame ...is this possible ?

Comment by joq on 2012-07-26:
You should probably read this: http://www.ros.org/reps/rep-0105.html

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