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Why gmapping package requires the base_link -> odom tf?

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in the [http://wiki.ros.org/gmapping](http://wiki.ros.org/gmapping) 4.1.5 Required tf Transforms 1 the frame attached to incoming scans → base_link usually a fixed value, broadcast periodically by a robot_state_publisher, or a tf static_transform_publisher. 2 base_link → odom usually provided by the odometry system (e.g., the driver for the mobile base) About 2, should be odom -> base_link rather than base_link -> odom, am I correct?

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