Detect leg while robot is moving
pmirabel opened this issue · comments
Hello, I am trying to understand which frame it is better to use in my specific case for the joint_leg_tracker part.
My understansing of odom versus base_link frame is that :
- if my robot is not moving, i can use any frame to compute X,Y coord and twist of people moving around the robot
- if my robot is moving, i have to use the odom frame so the computation of a people data will take into account the motion of my robot
It is pretty clear for me that I have to use odom frame if I am moving... But I can't explain it very clearly... can anyone explain this part to me ?
thank you!
For anyone looking for some hints about odom frame in here : see ros answer and the tf use of join_leg_tracker