# Revision history [back]

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" >
<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" >