Hi, I am trying to use robot_pose_ekf for my navigation stack, I have done every thing according to this thread but I faced a problem about my transformations! Robot_pose_ekf is publishing a base_footprint tf, but i dont know how should i connect base_link tf to base_footprint tf. what is the relation between them?
answered 2012-01-26 09:45:32 -0500DimitriProsser
base_link is typically the center of mass or the center of turning for your robot, while
base_footprint is located at ground level directly below
base_footprint is a projection of
base_link onto the ground.
If your Center of Mass is 0.5m above the ground, you can publish a transform with partent=
base_footprint and child=
base_link with a transform of 0.5z. If you want base_link to be the parent, you would publish -0.5z.
Asked: 2012-01-26 09:34:24 -0500
Seen: 450 times
Last updated: Jan 26 '12