TFs in outdoor navigation with GPS


I’ve been trying to follow the Summit course (unit 2) but I don understand the TF tree proposed

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?



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