Canot change parent child relationship between base_link and base_footprint

asked 2023-07-19 11:16:14 -0600

iamsdevaprasad
11 ●1 ●3 ●7

I have changed a part of the code from

<joint name="base_footprint_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_footprint"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="base_footprint">
</link>

to

 <joint name="base_footprint_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
<link name="base_footprint">
</link>

this before changing to this after changing

but the base_footprint disappears instead of becoming parent to base_link what to do , please help. Thank you.

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answered 2023-07-20 12:15:29 -0600

iamsdevaprasad
11 ●1 ●3 ●7

updated 2023-07-20 13:47:08 -0600

I have found the answer to change the child link for odom frame it should be done in robot.gazebo file where you have added the differential drive plugin , not in robot.xacro file.

To be more precise what you have to do is

<joint name="base_footprint_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

<link name="base_footprint">
</link>

change this part of code in robot.xacro.

Then go to robot.gazebo and in diff drive plugin change.

<robotBaseFrame>base_footprint</robotBaseFrame>

now the tf graph goes as odom-->base_footprint-->base_link ...

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answered 2023-07-19 20:52:41 -0600

Martin Peris
5625 ●34 ●83 ●98 http://www.linkedin.co...

updated 2023-07-19 20:57:02 -0600

This might be a stupid answer, but have you tried this?

<link name="base_footprint">
</link>
<joint name="base_footprint_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
</joint>

Although my spider sense tells me that you should modify your setup so that gazebo publishes the transform "odom -> base_footprint" instead of "odom -> base_link"

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Thanks for the answer, but it didn't work. Any other tips ...

iamsdevaprasad ( 2023-07-19 21:08:28 -0600 )edit

Although my spider sense tells me that you should modify your setup so that gazebo publishes the transform "odom -> base_footprint" instead of "odom -> base_link"

I know about it , but not sure how to do it...

iamsdevaprasad ( 2023-07-19 21:21:35 -0600 )edit

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Canot change parent child relationship between base_link and base_footprint

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