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Point center in ufrd model and move_base package.

asked 2014-01-25 07:57:07 -0500

seredin
35 ●16 ●20 ●22

updated 2014-01-25 16:49:26 -0500

Hello all! I am would like create my own urdf model. It will be robot with differential drive like in the Pi robot. But I have a questions:

What will be center of robot? point rotate or geometry center of robot in URDF model? regarding what point set all sensors?

How I can set this model in costmap_common_params file in move_base package? footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]] or robot_radius: 0.21?

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answered 2014-01-26 13:55:01 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

For a diff drive robot, the typical place for a base_link frame location would be centered between the two wheels (and often projected onto the ground plane, but that's less important). If your wheels are centered on the robot (like a turtlebot) then a robot radius makes sense. If your wheels are offset from the center (like pirobot) then the footprint might be a better option.

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Asked: 2014-01-25 07:57:07 -0500

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Last updated: Jan 26 '14

Point center in ufrd model and move_base package. edit

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Point center in ufrd model and move_base package.