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(x,y) origin for 3 wheeled robots

asked 2021-11-17 16:47:21 -0500

BigBadJohn gravatar image

I have a 2-differential drive wheels in front, and caster in rear, of my rectangular platform. I haven't been able to find a definitive answer on where (x,y) = (0,0) should be in the footprint parameter in the costmap yaml files. Is it the turn pivot location between the 2 drive wheels or the physical center of the robot frame. I have seen both used in different posts. I am using ROS Melodic.

Thanks

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answered 2021-11-18 19:55:53 -0500

Mike Scheutzow gravatar image

It should be mid-way between the two drive wheels. It is at the rotation point when the drive wheels cause the robot to spin in place.

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Asked: 2021-11-17 16:47:21 -0500

Seen: 23 times

Last updated: Nov 18 '21