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To modify the internal semantics of which was base_link and etc. point in a standard robot would require a surprising amount of modification, but primarily to the robot description (jackal_description URDF)
Because cmd_vel data is not stamped (attached to a reference frame), it is always in the base frame of the vehicle.
IMO, not worth it for many cases. If your higher-level code is feeding cmd_vel, consider writing a basic man-in-the-middle node.
If your higher level code is sending move_base goals, consider making it understand that the goal orientation should always face backwards.
| | 2 | No.2 Revision |
To modify the internal semantics of which was way base_link and etc. point in a standard robot would require a surprising some amount of modification, but primarily to the robot description (jackal_description URDF)URDF). It should be enough to add a 180-degree rotation to any joint attached to base_link.
Because cmd_vel data is not stamped (attached to a reference frame), it is always in the base frame of the vehicle.
IMO, not worth it for many cases. usually worhwhile to modify URDF, since this a 'standard' piece that will be upgraded in apt periodically. If your higher-level code is feeding cmd_vel, consider writing a basic man-in-the-middle node.
If your higher level code is sending move_base goals, consider making it understand that the goal orientation should always face backwards.
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