According to REP 105, "The pose of a mobile platform in the odom frame can drift over time". I am trying understand what that means. In what situations would the frame "drift"? And "drift" relative to what? The base_link? How would the the odom frame drift relative to the base link if the robot is responsible for publishing the base_link->odom transform based on it's notion of odometry in the first place?
REP 105 also states/requires, "the pose of a robot in the odom frame is guaranteed to be continuous".
Does this mean I can't use an INDEX pulse on my wheel encoders to reset the axel angle to zero on each wheel rotation, since that might lead to a discontinuity? Or does it imply a requirement that I must filter my odometry estimates to eliminate such discontinuities.
Hmmm... maybe this starts to make sense. If I'm required (by REP 105) to eliminate any discontinuities, I can see where that might lead to "drift"...maybe.
Anyways, I'm confused, and would appreciate any enlightenment folks would care to give me on this topic.
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