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Do all navigation in base_footprint frame #67

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rohbotics opened this issue Feb 11, 2019 · 1 comment
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Do all navigation in base_footprint frame #67

rohbotics opened this issue Feb 11, 2019 · 1 comment
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UbiquityRobotics/ubiquity_main

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This is the more correct frame, and is level with the ground plane.

Things that need to change:

  • Odometery Publishing
  • Fiducial Slam
  • Move basic
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@Polonium19 mentions that this is important for implementing the Gazebo model, because base_link has to be a child of base_footprint in order for odometry to work in gazebo

@rohbotics rohbotics mentioned this issue Feb 16, 2019
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@rohbotics rohbotics self-assigned this Feb 17, 2019
@rohbotics rohbotics mentioned this issue Feb 17, 2019
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rohbotics added a commit to UbiquityRobotics/move_basic that referenced this issue Feb 17, 2019
@rohbotics
Parameterize odom and base frames so that they can be changed
f146378 
Closes: #43

Related to UbiquityRobotics/magni_robot#67
We want to change from base_link to base_footprint
@rohbotics rohbotics mentioned this issue Feb 17, 2019
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@ghost ghost added in progress and removed ready labels Feb 17, 2019
@rohbotics rohbotics mentioned this issue Feb 17, 2019
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rohbotics added a commit that referenced this issue Feb 23, 2019
@rohbotics
Merge branch 'indigo-devel' into feature-#67
1f02cf9
rohbotics added a commit that referenced this issue Feb 23, 2019
@rohbotics
Merge branch 'feature-#67' into indigo-devel
9301675
@ghost ghost removed the in review label Feb 23, 2019
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