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 | 1 | initial version |
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.
| | 2 | No.2 Revision |
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.
| | 3 | No.3 Revision |
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=parent=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.
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