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Update 01 - ROS and Sensor Fusion Tutorial.md #1

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Mar 15, 2019
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Update 01 - ROS and Sensor Fusion Tutorial.md 
Swapped "odom -> base_link" and "map -> odom" paragraph titles
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@ricber
ricber authored Mar 15, 2019
commit 92a1b94be43b30a3c93ebd0f5b5e00fa98f6e08c
6 changes: 3 additions & 3 deletions 01 - ROS and Sensor Fusion Tutorial.md
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Expand Up @@ -369,7 +369,7 @@ So, naturally, you'd want to fuse data to cater to these two transforms!

**Fusing Sensors for the /map frame (map -> odom)**

> **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.**
> **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.**
>
> It fuses:
>
Expand All @@ -381,11 +381,11 @@ So, naturally, you'd want to fuse data to cater to these two transforms!

**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.**
> **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 aren't global pose estimates
> - All continuous sensor data and algorithm outputs that are global pose estimates
> - Global pose estimates, for example...
> - AMCL (or other localisation algorithms)
> - Absolute global pose data, for example...
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