I'm trying to implement an odometry publisher for a small robot following the [tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom), but I'm confused by the terminology.
An odometry message "stores an estimate of the position and velocity of a robot in free space". It stores the estimate in free space...relative to what? If the robot doesn't know where it is, what significance does the pose variable mean? Is it simply `(0,0,0)`? When the robot turns, how do you update the twist without knowing your initial orientation?
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