[Solved] Where in code base_link is created?

[quarkpol]

Hello,

How and where is the base_link frame created. How the position of base_link is calculated relative to odom. I assume that is done by robot_localization package, but I do not understand a whole picture so if you can explain it to me?

Quarkpol

[lukasz.mitka]

Hello Quarkpol,

You are right, the base_link frame is created by ekf_localization_node from robot_localization package.
The ekf_localization_node is an implementation of Extended Kalman Filter, in short words it calculates estimate of robot position basing on various sensors. In case of ROSbot, we are using odometry and IMU.
Detailed description of ekf_localization_node can be found in documentation.

Regards,
Łukasz

[quarkpol]

Thank you. As I understand Husarion’s idea now, URDF files are not needed to run Husarion. Is that right?

Regards
Quarkpol

[lukasz.mitka]

Yes, you are right. The URDF files are required for Gazebo simulations only.

Regards,
Łukasz

[Hubert_Zwiercan]