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odom → base_footprint

asked 2014-09-24 03:20:45 -0600

Mehdi. gravatar image

Stage_ros publishes this, now I want to try simulating using STDR but it doesn't use the same nomenclature. How can I calculate this transform and what does it represent exactly in a real world scenario.

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answered 2014-09-24 08:57:47 -0600

paulbovbel gravatar image

This has been answered here

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Here is the parent-child relationship when I run stage_ros map -> odom -> base_footprint -> base_link -> rest of robot joints so I don't see how your link is going to help me with the odom -> base_footprint part

Mehdi. gravatar image Mehdi.  ( 2014-09-24 20:00:16 -0600 )edit

It tells you what base_footprint represents, which you can use to recreate it in STDR. Since it's a 2D simulator I'm guessing you can just add an identity transform from base_link to base_footprint.

paulbovbel gravatar image paulbovbel  ( 2014-09-24 20:49:26 -0600 )edit

I just want to know what odom -> base_footprint or generally speaking odom -> robot represents.

Mehdi. gravatar image Mehdi.  ( 2014-09-24 20:58:39 -0600 )edit

Have a read here

paulbovbel gravatar image paulbovbel  ( 2014-09-24 21:09:48 -0600 )edit

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Asked: 2014-09-24 03:20:45 -0600

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Last updated: Sep 24 '14