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Change base_link position

asked 2019-05-07 19:50:28 -0600

melanielim gravatar image

How do we change the base_link coordinate centre on autoware? Is there a default one that it automatically uses? If so where is it positioned?

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Can you expand on what you mean by "change the base_link coordinate centre"?

Geoff gravatar imageGeoff ( 2019-05-13 02:14:21 -0600 )edit

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answered 2019-05-15 00:31:28 -0600

aohsato gravatar image

updated 2019-05-15 04:10:53 -0600

In Autoware coordinate system, base_link is defined at the center of rear wheels as follows.

You need to set the relative transform between base_link to velodyne on Setup tab.

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Could I ask you to attach the images to your answer directly? I've given you sufficient karma for that.

gvdhoorn gravatar imagegvdhoorn ( 2019-05-15 02:06:30 -0600 )edit
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Greatly thanks. I've edited.

aohsato gravatar imageaohsato ( 2019-05-15 04:11:42 -0600 )edit

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Asked: 2019-05-07 19:49:46 -0600

Seen: 82 times

Last updated: May 15