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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. Thebase_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 theodom
frame, the roll and pitch angles should be zero and the yaw angle should correspond to thebase_link
yaw angle.Rationale:
base_footprint
provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with thebase_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. Thebase_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 theodom
frame, the roll and pitch angles should be zero and the yaw angle should correspond to thebase_link
yaw angle.Rationale:
base_footprint
provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with thebase_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. Thebase_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_footprintThe
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 theodom
frame, the roll and pitch angles should be zero and the yaw angle should correspond to thebase_link
yaw angle.Rationale:
base_footprint
provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with thebase_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
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. Thebase_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 theodom
frame, the roll and pitch angles should be zero and the yaw angle should correspond to thebase_link
yaw angle.Rationale:
base_footprint
provides a fairly stable 2D planar representation of the humanoid even while walking and swaying with thebase_link
.
[1] REP 103, Standard Units of Measure and Coordinate Conventions
Also, check out #q208051 and #q94941 for some more explanation.