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wheels takes position with reference to the base_footprint instead of base_link , though its parent link is base_link

<!--RIGHT WHEEL--> 

    <origin xyz="0 0 0" rpy="1.57 0 0"/>
    <geometry>
      <cylinder radius="0.027" length="0.016"/>
    </geometry>
  <material name="black"/>
  </visual>
  <collision>
    <origin xyz="0 0 0" rpy="1.57 0 0"/>
    <geometry>
      <cylinder radius="0.027" length="0.016"/>
    </geometry>
  </collision>
  <xacro:cylinder_inertia m="5" r="0.027" h="0.016"/>

Asked by adi on 2020-07-18 13:55:26 UTC

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