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The transform from nav_base to base_link is the offset between the center of gravity (nav_base) and the center of the rear axle (base_link). This can either be published with a static_transform_publisher or by providing a URDF file to the robot_state_publisher. We provide a URDF file for the Lexus under src/urdf/lexus_rx_450h/urdf/. Or, if you are using ade, you can also find it under /opt/AutowareAuto/share/lexus_rx_450h/urdf/. See http://wiki.ros.org/robot_state_publisher for more information.

The transform from nav_base to base_link is the offset between the center of gravity (nav_base) and the center of the rear axle (base_link). This can either be published with a static_transform_publisher or by providing a URDF file to the robot_state_publisher. We provide a URDF file for the Lexus under src/urdf/lexus_rx_450h/urdf/src/urdf/lexus_rx_450h_description/urdf/. Or, if you are using ade, you can also find it under /opt/AutowareAuto/share/lexus_rx_450h/urdf//opt/AutowareAuto/share/lexus_rx_450h_description/urdf/. See http://wiki.ros.org/robot_state_publisher for more information. information.