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Hi.

I'm attempting to use the diff_drive_controller package in ros_control for a robot which has wheels positioned off-centre (i.e. at the front of the robot). It then has a caster wheel at the back. In reality, the robot rotates about the centre of the two front wheels. However, the odometry published by diff_drive_controller rotates the robot about the base_link. Is there a way to correct this?

Many thanks.


Originally posted by epsilonjon on ROS Answers with karma: 123 on 2017-02-01

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The way I have achieved this is to create a link at my desired point of rotation, then to set the diff_drive_controller parameter base_frame_id equal to that link.


Originally posted by epsilonjon with karma: 123 on 2017-02-11

This answer was ACCEPTED on the original site

Post score: 1

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