We have a tf set up like,
We are building a map.
We are taking encoder values from encoder and accordingly planning X, Y, Yaw
positions in odometry and publishing on /odom. (Current position of the
When we see in rviz, all other links
/base_footprint->/base_link->/base_laser_links are together moving exactly
like robot physical moving. Map is our fixed frame in rviz.
but, /odom is not with the robot base footprint. According to logic it
should display a current position of the robot so, it should be with
base_footprint. But in rviz /map is pointing to /odom and odom is outside
robot footprint. Although it is moving but it is pointing /base_footprint
from outside of the robot body.
Is that something we are missing in this or is it the right behavior?