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 | 1 | initial version |
Hi,
base_footprint is located at ground level directly below base_link or base_footprint is the projection of base_link on the ground.
| | 2 | No.2 Revision |
Hi,
base_footprint is located at ground level directly below base_link or base_footprint is the projection of base_link on the ground. You can use this information to find base_footprint from base_link.
| | 3 | No.3 Revision |
Hi,
base_footprint is located at ground level directly below base_link or base_footprint is the projection of base_link on the ground. You can use this information to find base_footprint from base_link..
Update: I dont think you need to write a new node for it. You can use static_transform_publisher to publish the transform between base_link and base_footprint.
Example :
<node pkg="tf" type="static_transform_publisher" name="base_link_footprint" args="0 0 z 0.0 0.0 0.0 /base_footprint /base_link 100" />
where base_footprint is z below base_link. You can put this directly in any launch file or modify accordingly to run it from the terminal.
Hope it helps.
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