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base_link to base_footprint transform ?

asked 2012-01-26 03:34:24 -0500

Alireza gravatar image

Hi, I am trying to use robot_pose_ekf for my navigation stack, I have done every thing according to this thread but I faced a problem about my transformations! Robot_pose_ekf is publishing a base_footprint tf, but i dont know how should i connect base_link tf to base_footprint tf. what is the relation between them?

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answered 2012-01-26 03:45:32 -0500

DimitriProsser gravatar image

updated 2015-05-01 20:31:12 -0500

130s gravatar image

base_link is typically the center of mass or the center of turning for your robot, while base_footprint is located at ground level directly below base_link. base_footprint is a projection of base_link onto the ground.


If your Center of Mass is 0.5m above the ground, you can publish a transform with parent=base_footprint and child=base_link with a transform of 0.5z. If you want base_link to be the parent, you would publish -0.5z.

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So how can i implement it? just set its z argument of translation to zero?
Alireza gravatar image Alireza  ( 2012-01-26 04:01:51 -0500 )edit

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Asked: 2012-01-26 03:34:24 -0500

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Last updated: May 01 '15