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Base_link doubt

asked 2011-06-13 02:04:18 -0600

Ane gravatar image

updated 2011-06-13 03:16:51 -0600

Eric Perko gravatar image

Hi,

I'm using ROS navigation stack and I'm have a doubt with a configuration parameter of costmap2d.

I have a differential drive which shaft it isn't the center of the robot. I don't know where I have to put the base_link: in the rotation point or in the geometric center of the robot.

Could anyone help me?

Thank's in advance

Kind regards

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answered 2011-06-13 03:20:55 -0600

Eric Perko gravatar image

base_link (or base_footprint depending on your configuration) should go at the rotational center of the robot, i.e. the point about which the diff drive robot can spin-in-place. This assumes that base_link is the frame you will be using to command velocities relative to.

I don't know if this is actually explicitly stated anywhere, but it's how I've always configured move_base.

Note that you can always make another frame called "geometric_center" or something similar and publish a transform between that and base_link if you would prefer other transforms relative to the geometric center of the robot instead of the center of rotation.

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Good point on this never being documented. I added a note in this tutorial: http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF mentioning it.
eitan gravatar imageeitan ( 2011-06-13 05:02:06 -0600 )edit

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Asked: 2011-06-13 02:04:18 -0600

Seen: 154 times

Last updated: Jun 13 '11