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what is nav, base_stabilized and base_footprint frame?

asked 2015-09-22 04:44:49 -0600

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?

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answered 2018-12-29 14:40:28 -0600

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.

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answered 2019-02-04 06:35:46 -0600

updated 2019-02-04 06:46:44 -0600

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.

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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 imageslad1995 ( 2019-02-04 06:42:53 -0600 )edit

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Asked: 2015-09-22 04:44:49 -0600

Seen: 197 times

Last updated: Feb 04