这个REP指定了ROS下移动机器人平台的坐标系命名规则和语义。

This REP specifies naming conventions and semantic meaning for coordinate frames of mobile platforms used with ROS.

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程序基于物理组成贴体坐标系(PCBFC)，结合任意拉格朗日欧拉坐标法(ale)实现网格的移动。

It is based on physical component and body-fitted coordinate (PCBFC), and applies arbitrary Lagrangian Eulerian (ALE) method to realize the grid moving.

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map坐标是不连续的，这意味着在map坐标系中移动平台的姿态可以随时发生离散的跳变。

The map frame is not continuous, meaning the pose of a mobile platform in the map frame can change in discrete jumps at any time.

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