TFs in outdoor navigation with GPS

Course Support Mastering with ROS - SUMMITXL
1

Hello,

I’ve been trying to follow the Summit course (unit 2) but I don understand the TF tree proposed https://s3.eu-west-1.amazonaws.com/notebooks.ws/summit_xl_instruction_manual/img/summit_xl_instruction_manual_unit2_GPSnav_tf.png

So, I understand that map->odom uses the odometry, IMU and GPS. And odom->base_footprint uses the odometry. Doesn’t it means that we are applying two times the odometry? So, if the robot advances one meter, from map to base_footprint there would be two times the distance?

Thanks!

2

Hi,

WHat we are doing is combining it. So the odometry only will cope for the local movements, this will be adjusted if the map gps system move us aleswhere