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Hello all! I am would like create my own urdf model. It will be robot with differential drive like in the Pi robot. But I have a questions:

What will be center of robot? point rotate or geometry center of robot in URDF model? regarding what point set all sensors?

How I can set this model in costmap_common_params file in move_base package? footprint: [[-0.2,-0.2],[-0.2,0.2], [0.2, 0.2], [0.2,-0.2]] or robot_radius: 0.21?

image description http://www.pirobot.org/blog/0024/base_level_0.jpg


Originally posted by seredin on ROS Answers with karma: 45 on 2014-01-25

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For a diff drive robot, the typical place for a base_link frame location would be centered between the two wheels (and often projected onto the ground plane, but that's less important). If your wheels are centered on the robot (like a turtlebot) then a robot radius makes sense. If your wheels are offset from the center (like pirobot) then the footprint might be a better option.


Originally posted by fergs with karma: 13902 on 2014-01-26

This answer was ACCEPTED on the original site

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