Hi,
I have question, on odom and base_footprint, especially when the robot is falling down or 4-legged walking in [REP 120](http://www.ros.org/reps/rep-0120.html).
I assume that humanoid robot did not know about the current waist position, but can estimate orientation from IMU sensors.
1. does odom correspond to the sensor based orientation and world reference based position of the waist?
2. does base_footprint respect the sensor based orientation and model based calculation of the height of the waist?
if it is ok, the question is
1. how do you estimate the position of the odom, from the walking controllers? does that include any sensor data?
2. does base_footprint does not reflect any sensor data? what's happens if the robot falling down or 4-legged walking mode?
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