More than one base_link transformation

asked 2018-12-04 07:40:55 -0500

tsdk00 gravatar image

Hi, I integrated a positioning sensor onto my robot. The positioning sensor has its own two frames i.e. odom_frame which is the odom frame for sensor and jupiter_link which is the sensor frame. So, i wanted to compare the data of the odometry coming from encoders to the positioning sensor odometry data in base_link frame. The tf tree structure is something like this odom--->base_link--->positioning_sensor odom_frame--->jupiter_link

So, actually now there are two odom frame exits one from the sensor and the other from where the robot starts. Can i replicate base_link by naming base_link1 in the urdf so that i can get tree structure like this: odom_frame--->jupiter_link--->base_link1.

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