Ask Your Question
2

base_link to base_footprint transform ?

asked 2012-01-26 03:34:24 -0600

Alireza gravatar image

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?

edit retag flag offensive close merge delete

1 answer

Sort by ยป oldest newest most voted
4

answered 2012-01-26 03:45:32 -0600

DimitriProsser gravatar image

updated 2012-01-26 04:20:16 -0600

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_link. base_footprint is a projection of base_link onto the ground.

EDIT:

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.

edit flag offensive delete link more

Comments

So how can i implement it? just set its z argument of translation to zero? Alireza ( 2012-01-26 04:01:51 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

[hide preview]

Question Tools

Follow
1 follower

Stats

Asked: 2012-01-26 03:34:24 -0600

Seen: 1,009 times

Last updated: Jan 26 '12