Coordinate Systems

Below are the most common coordinate systems used. In addition to those each sensor usually has its own coordinate system too.

Odometry (odom)

This is an arbitrary coordinate system with it’s origin at the starting position (at the time of power on) of the platform. X and Y form the plane of movement, while Z is pointing upwards and aligned with gravity. Usually there is no motion in Z direction, except when a roll and pitch sensor is installed. The internal name is odom.

Map (map)

This is the coordinate system of the currenly used Grid Map and Road Map. Usually the Grid Map is created first and it’s origin is the starting position of where the map was created initially. X and Y form the plane of movement, while Z is pointing upwards and aligned with gravity. The internal name is map.