Using Transforms to Robot Base View
From wikidb
Motivation
One approach is to transform odometry results to a robot base. This would leave use with a speed in the robot's x direction and an angular z component. If the x speed is positive, the robot is moving forward. This simplifies reasoning. This page documents investigations. The investigation of this path is not completed.
Not currently successful
ROS Transforms
This is a dead end. ROS transforms tell us where we the robot base is in our map space but does not transform to robot space.
