I am trying to understand the responsibility I have with regards to publishing the odom TF frame. Specifically, we have a mobile robotic system that is intended to (and does) operate via ROS and are finalizing complete robotic control stack.
There is a lot written (and have read/reread) about the map --> odom --> base_link relationship. I understand that the odom frame is 1) where the robot starts in a map and 2) can "drift." But what I would like to understand is what, specifically, needs to be/should be done programatically to move the odom frame as my robot progresses. It seems to be my responsibility to translate what is going on into this "drift", and thus, I should publish a map->odom->base_link transform tree and should be "drifting" the odom frame? But how should this be done? Move it where and by how much relative to the uncertainty? Or am I not understanding: I often read that it is the localization nodes that publish the map->odom relationship.
(it also seems strange to me that, if I understand correctly, I am to drift the odom transform which is where the robot starts as opposed to base_link, where it is presently)
I understand that wheel odometry error and uncertainty accumulates as the robot moves and I too understand how calculate and keep track of that uncertainty. Again, seeking clarification on what one is supposed to do with that knowledge with regards to moving the odom frame? Where do I move it and by how much?
(Most of what is written on the subject [and there is a fair amount] is helpful if you are writing a client or trying to get a platform performing SLAM in gazebo, but it isn't clear how it is supposed to work if you are authoring the actual controlling components and stack. Have read rep 105, and all postings I can find on ROS answers, but would greatly appreciate some clarification.)
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