[Enhancement]: Virtual Joint for Octomap

Interbotix / interbotix_ros_rovers

ROS Packages for Interbotix Rovers

BSD 3-Clause "New" or "Revised" License

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[Enhancement]: Virtual Joint for Octomap #23

Closed AntoRag closed 1 year ago

AntoRag commented 1 year ago

Virtual joint for Ocotmap

Hi, I'm currently using the Locobot WX250s for my master's thesis. I was wondering if it was possible to modify the description of the robot and add a virtual joint between base footprint and a fixed frame (for example "map"). I had this necessities because i was trying to build the Octomap incrementally and in this issue they suggested this solution [https://github.com/ros-planning/moveit/issues/1188]

Platform

Locobot wx250s, Ubuntu 20.04, ROS Noetic

lukeschmitt-tr commented 1 year ago

Yes, it is possible. Feel free to modify the locobot.urdf.xacro in your local workspace.