Fix information order for map and odom frames

01 - ROS and Sensor Fusion Tutorial.md

@@ -369,30 +369,30 @@ So, naturally, you'd want to fuse data to cater to these two transforms!
 
 **Fusing Sensors for the /map frame (map -> odom)**
 
-> **For odom -> base_link** you need an ekf/ukf_localization_node with the node's **"world_frame" parameter set to the name of your map frame.**
+> **For map -> odom** you need an ekf/ukf_localization_node with the node's **"world_frame" parameter set to the name of your map frame.**
 >
 > It fuses:
 >
-> - All continuous sensor data and algorithm outputs that aren't global pose estimates, for example...
->   - IMU
->   - Visual Odometry
->   - Wheel Encoders
->   - laser_scan_matcher (Using lasers to derive a local robot odometry) (or ICP!)
-
-**Fusing Sensors for the /odom frame (odom -> base_link)**
-
-> **For map -> odom** you need an ekf/ukf_localization_node with the node's **"world_frame" parameter set to the name of your odom frame.**
->
-> It fuses:
->
-> - All continuous sensor data and algorithm outputs that are global pose estimates
+> - All continuous sensor data and algorithm outputs that aren't global pose estimates
 > - Global pose estimates, for example...
 >   - AMCL (or other localisation algorithms)
 > - Absolute global pose data, for example...
 >   - GPS (after using navsat: http://docs.ros.org/melodic/api/robot_localization/html/navsat_transform_node.html)
 >   - Ultrasonic beacons (we're going to fuse these!)
 >   - Global Visual Odometry (from an overhead camera, perhaps?)
 
+**Fusing Sensors for the /odom frame (odom -> base_link)**
+
+> **For odom -> base_link** you need an ekf/ukf_localization_node with the node's **"world_frame" parameter set to the name of your odom frame.**
+>
+> It fuses:
+>
+> - All continuous sensor data and algorithm outputs that aren't global pose estimates, for example...
+>   - IMU
+>   - Visual Odometry
+>   - Wheel Encoders
+>   - laser_scan_matcher (Using lasers to derive a local robot odometry) (or ICP!)
+
 
 
 ### 3.2 Roadmap <a name="3.2"></a>