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 | 1 | initial version |
You can either modify your URDF, add 90 degrees or 1.57 rad yaw to your base_link rpy="0 0 1.57"
Or you can change name of base_link to mock_base_link or whatever, and publish a static transform called base_link that is offset by 1.57 rad in yaw to your mock_base_link, adding this to your launch file
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 mock_base_link base_link 20" />
You can read about args here
| | 2 | No.2 Revision |
You can either modify your URDF, add 90 degrees or 1.57 rad yaw to your base_link rpy="0 0 1.57"
Or you can change name of base_link to mock_base_link or whatever, and publish a static transform called base_link that is offset by 1.57 rad in yaw to your mock_base_link, adding this to your launch file
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 mock_base_link base_link 20" />
You can read about args here
EDIT: Parent and child were switched in transform, use this one, should be fine after this.
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 base_link mock_base_link 20" />
| | 3 | No.3 Revision |
You can either modify your URDF, add 90 degrees or 1.57 rad yaw to your base_link rpy="0 0 1.57"
Or you can change name of base_link to mock_base_link or whatever, and publish a static transform called base_link that is offset by 1.57 rad in yaw to your mock_base_link, adding this to your launch file
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 mock_base_link base_link 20" />
You can read about args here
EDIT: Parent and child were switched in transform, use this one, should be fine after this.
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 base_link mock_base_link 20" />
| | 4 | No.4 Revision |
You can either modify your URDF, add 90 degrees or 1.57 rad yaw to your base_link rpy="0 0 1.57"
Or you can change name of base_link to mock_base_link or whatever, and publish a static transform called base_link that is offset by 1.57 rad in yaw to your mock_base_link, adding this to your launch file
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 mock_base_link base_link 20" />
You can read about args here
EDIT: Current node will have mock_base_link as parent and base_link as it's child, you need to switch them like,
<node pkg="tf" type="static_transform_publisher" name="mock2base" args="0 0 0 1.57 0 0 base_link mock_base_link 20" />
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