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Just following up a few months after the fact. Sorry this is late. The answer here is that I needed to provide a base_footprint <link> for the robot to raise it above the "floor". I added an empty link:

<link name="base_footprint" />

and then a corresponding joint to fix it to the robot.

<joint name="base_joint" type="fixed" >
   <parent link="base_link" />
   <child link="base_footprint" />
   <origin xyz="0 0 -0.57325" rpy="0 0 0" />
</joint>

The Z offset is from the geometric center of base_link.

Just following up a few months after the fact. Sorry this is late. fact.

The answer here is that I needed to provide a base_footprint <link> for the robot to raise it above the "floor". I added an empty link:

<link name="base_footprint" />

and then a corresponding joint to fix it to the robot.

<joint name="base_joint" type="fixed" >
   <parent link="base_link" />
   <child link="base_footprint" />
   <origin xyz="0 0 -0.57325" rpy="0 0 0" />
</joint>

The Z offset is from the geometric center of base_link. Yay! Now the Rviz mapping representation matches the Gazebo visualization.