base_link position on turtlebot

On the turtlebot I'm using the map->base_link transform to locate it within the gmap. But where exactly on the robot is this position? Is it the position of the kinect? Is it the center of the robot? The front of the robot?

Asked by pookie9 on 2016-04-06 16:40:34 UTC

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Answers

According to http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF, base link is recommended to be the center of rotation of the robot. In order to localize and navigate properly, you will have to set up the correct position of your sensor (kinect in your case) by setting up a urdf for your robot (http://wiki.ros.org/urdf)

Asked by DavidN on 2016-04-06 20:55:00 UTC