ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

what is nav, base_stabilized and base_footprint frame?

asked 2015-09-22 04:44:49 -0500

boon gravatar image

I am working with tum_simulator. When I publish the frames, I get nav, base_stabilized and base_footprint frames. What do these frames refer to?

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2018-12-29 14:40:28 -0500

Hi @boon,

ROS uses so called transform trees (tf) to make conversion from one reference frame to another. These transformations could be either static or dynamic. I strongly recommend you to first follow ros tf tutorials. You can also look for hector_slam tutorial to understand these frames visually.

edit flag offensive delete link more

answered 2019-02-04 06:35:46 -0500

updated 2019-02-04 06:46:44 -0500

jayess gravatar image

@boon you will need to connect the map, world frames in your launch file

  <node pkg="tf" type="static_transform_publisher" name="base_link_to_laser"  args="0.2245 0.0 0.2 0.0 0.0  0.0 /base_footprint /laser_frame 40" />

 <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 /world /map 100" />

 <node pkg="tf" type="static_transform_publisher" name="link2_broadcaster" args="1 0 0 0 0 0 1 /map /base_footprint 99" />

Add this to your launch file for the lidar.

edit flag offensive delete link more


form what i know /nav is for the navigasion node that you can add at a later date. the the other 2 are tf trees used to find the location of the robots frames

slad1995 gravatar image slad1995  ( 2019-02-04 06:42:53 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2015-09-22 04:44:49 -0500

Seen: 412 times

Last updated: Feb 04 '19