HomeCoordinate Frames & TF
Auxiliary
Coordinate Frames & TF
坐标系与 TF 约定
The Autoware localization system uses the following coordinate frame conventions. All modules must strictly comply.
| Frame | Description |
|---|---|
earth | ECEF Earth-fixed coordinate frame |
map | Local map coordinate frame (typically UTM or custom origin) |
odom | Odometry frame (only for short-term relative motion) |
base_link | Vehicle body frame (rear axle center, x-forward y-left z-up) |
sensor_frame | Individual sensor frames (determined by extrinsic calibration) |
Warning
EKF Localizer is responsible for publishing the map → base_link TF transform. All localization source output poses must use map as frame_id, representing the base_link pose in the map coordinate frame.