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Questions tagged [base-footprint]

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base_footprint of articulated vehicle

I have a conceptual doubt. The base_footprint for a vehicle is given with respect to the base_link (projected on the 2D plane). I am unable to comprehend what happens when we have an articulated ...
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How can I set the footprint of my robot in nav2?

I want to set the footprint of my robot while using nav2. How can I do that? Originally posted by lorenzo on ROS Answers with karma: 88 on 2020-02-18 Post score: 0
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TF frames order, which should be fixed and which should be the parent and child?

Mobile robot moving around static known map. Map was built with hector SLAM. Is that the right order for the frame tree? Do I need the base_footprint? Fixed fram Odom Tree --> odom --> base_link ...
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base_link vs base_footprint

I have read that the navigation stacking within ROS requires the use of base_footprint. What is the difference between base_link and base_footprint? How do I know which I should use? Originally ...
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how to use robot_pose_ekf module to improve odom data and use that to produce better maps

Hello, I am working on building maps of my office ( which is think is around 100 * 100 mts) . I using this tutorial for gmapping. This is the procedure i follow to create the map. I run the robot in ...
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Multiple Robot Navigation

I know that similar question were already asked here but there is no solution to my problem. I run navigation on several turtlebots using one shareable map. However, I have encountered a problem ...
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1 answer
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Generating a 2D Costmap from a map.yaml file

Hi, I want to generate and publish a Costmap using a user provided map file. I am having a difficult time understand costmap_2d documentation and low level simple implementation example are scarce or ...
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[SOLVED] xsens imu with robot_localization

Hello to everybody, Im still new to ros and allready tryed really long to find a solution for my problem but all the things i tryed werent really helping. The problem im having is that i want to ...
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specifying base_link frame for the Transformation tree

Hi all, The base_link frame of my robot is 16 cm above the ground (or base_footprint frame) and laser frame is 8 cm above the base_link frame and I have specified all the transformations with respect ...
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3 answers
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What is the purpose of base_footprint?

What purpose does the base_footprint link serve? I'm reading through the Gazebo simulation tutorial, and it instructs the user to create an infinitesimally small nearly weightless box which is linked ...
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problem with tf tree, robot_pose_ekf, odom_combined

Hello, I've been working with a turtlebot with a kobuki base , i'm trying to use robot_pose_ekf but i found a tf problem, in this case base_footprint will have 2 parents (odom_combined published by ...
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odom → base_footprint

Stage_ros publishes this, now I want to try simulating using STDR but it doesn't use the same nomenclature. How can I calculate this transform and what does it represent exactly in a real world ...
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Where do I put base_footprint?

So I have a urdf for my robot, with the tree root as base_link. However, I am using robot_pose_ekf, which has a hard-coded ...
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Why /base_footprint's position is not (0,0,0) in /tf?

I echo /tf: ...
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turtlebot2 /odom and base_footprint tf

Hello, I've been working with a turtlebot with a roomba base for which I developed some very simple algorithm like just going to a point. To know the current position of the robot I used the /odom ...
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How to display base_footprint outline in rviz?

I've defined a base_footprint tf frame: map --> odom --> base_footprint --> base_link -->> camera frames A footprint is defined in costmap_common_params.yaml My .urdf.xacro file is read ...
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Problem with navigation stack base_link to map with costmap

Hello everybody, I'm trying to bring up a navigation stack on a custom robot. The Warning I'm getting is the following : ...
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1 answer
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Laser Positioning on robot

I have a laser pushed forward to the front of my robot. I hit stuff when I navigate, so I'm trying to fix that... How do I make the tf understand the laser is pushed forward? Also, I want to ...
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117 views

/odom to /base_footprint

My question: Hey everyone, What is the best way to connect odom to base_link? Should I modify the navigation stack to look for odom_combined instead? Or would that be too difficult? Explanation/...
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tf id frame odom_combined and base_footprint does not exist error

Hi, how are you doing guys? Hope you are doing great. I'm writing this message because I'm having problems with the pr2_controller tutorial: "Using the base controller with odometry and transform ...
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