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 | 1 | initial version |
I have found the answer to change the child link for odom frame it should be done in robot.gazebo file where you have added the differential drive plugin .
| | 2 | No.2 Revision |
I have found the answer to change the child link for odom frame it should be done in robot.gazebo file where you have added the differential drive plugin ., not in robot.xacro file.
| | 3 | No.3 Revision |
I have found the answer to change the child link for odom frame it should be done in robot.gazebo file where you have added the differential drive plugin , not in robot.xacro file.
To be more precise what you have to do is
<joint name="base_footprint_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="base_footprint">
</link>
change this part of code in robot.xacro.
Then go to robot.gazebo and in diff drive plugin change.
<robotBaseFrame>base_footprint</robotBaseFrame>
now the tf graph goes as odom-->base_footprint-->base_link ...
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