1 | initial version |

From REP-120:

## base_link

The coordinate frame called

`base_link`

is rigidly attached to the robot root body. It is recommended to choose the robot waist as its root body. The`base_link`

can be attached to the root in any arbitrary position or orientation; for every hardware platform there will be a different place on the base that provides an obvious point of reference. Note that REP 103 [1] specifies a preferred orientation for frames.## base_footprint

The

`base_footprint`

is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the`odom`

frame, the roll and pitch angles should be zero and the yaw angle should correspond to the`base_link`

yaw angle.Rationale:

`base_footprint`

provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the`base_link`

.

[1] REP 103, Standard Units of Measure and Coordinate Conventions

Also, check out #q208051 for some more explanation.

2 | No.2 Revision |

From REP-120:

## base_link

The coordinate frame called

`base_link`

is rigidly attached to the robot root body. It is recommended to choose the robot waist as its root body. The`base_link`

can be attached to the root in any arbitrary position or orientation; for every hardware platform there will be a different place on the base that provides an obvious point of reference. Note that REP 103 [1] specifies a preferred orientation for frames.## base_footprint

The

`base_footprint`

is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the`odom`

frame, the roll and pitch angles should be zero and the yaw angle should correspond to the`base_link`

yaw angle.Rationale:

`base_footprint`

provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the`base_link`

.

[1] REP 103, Standard Units of Measure and Coordinate Conventions

Also, check out #q208051 for some more explanation.

3 | No.3 Revision |

From REP-120:

## base_link

base_link

The coordinate frame called

`base_link`

is rigidly attached to the robot root body. It is recommended to choose the robot waist as its root body. The`base_link`

can be attached to the root in any arbitrary position or orientation; for every hardware platform there will be a different place on the base that provides an obvious point of reference. Note that REP 103 [1] specifies a preferred orientation for frames.

base_footprint

The

`base_footprint`

is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the`odom`

frame, the roll and pitch angles should be zero and the yaw angle should correspond to the`base_link`

yaw angle.Rationale:

`base_footprint`

provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the`base_link`

.

[1] REP 103, Standard Units of Measure and Coordinate Conventions

Also, check out #q208051 for some more explanation.

4 | No.4 Revision |

From REP-120:

base_link

`base_link`

is rigidly attached to the robot root body. It is recommended to choose the robot waist as its root body. The`base_link`

can be attached to the root in any arbitrary position or orientation; for every hardware platform there will be a different place on the base that provides an obvious point of reference. Note that REP 103 [1] specifies a preferred orientation for frames.base_footprint

`base_footprint`

is the representation of the robot position on the floor. The floor is usually the level where the supporting leg rests, i.e. z = min(l_sole_z, r_sole_z) where l_sole_z and r_sole_z are the left and right sole height respecitvely. The translation component of the frame should be the barycenter of the feet projections on the floor. With respect to the`odom`

frame, the roll and pitch angles should be zero and the yaw angle should correspond to the`base_link`

yaw angle.`base_footprint`

provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with the`base_link`

.

[1] REP 103, Standard Units of Measure and Coordinate Conventions

Also, check out #q208051 and #q94941 for some more explanation.

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