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平台:　ubuntu14.04 indigo turtlebot一代 详细教程参考： http://wiki.ros.org/robot_pose_ekf https://github.com/ros-planning/navigation/blob/kinetic-devel/robot_pose_ekf/src/odom_estimation_node.cpp由于robot_pose_ek

https://vimeo.com/142624091 什么是robot_localization General purpose state estimation package No limit on the number of input data sources Supported message types for state estimation nodes a) nav_msgs/

navigation教程：http://wiki.ros.org/navigation一.Setup and Configuration of the Navigation Stack on a Robot参考链接：http://blog.exbot.net/archives/1129 导航框架如下：

If there are many TF warnings, you can try to increase robot_state_publisher’s publishing frequency in turtlebot_bringup/launch/includes/robot.launch.xml from 5 to 10 Hz. You can also increase wait_for

使用下面命令，完成坐标转换 rosrun tf tf_echo /map /base_link