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hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/
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Remove the base_link->base_footprint transform #116

Open hello-binit opened 1 month ago

hello-binit commented 1 month ago

The driver publishes a transform from base_link to base_footprint, but the transform is always an identity.

https://github.com/hello-robot/stretch_ros2/blob/b77baa164325d96e568a76527f21432802459b08/stretch_core/stretch_core/stretch_driver.py#L233-L244

The Nav 2 AMCL base_frame_id parameter is set to the base_footprint link, but it's not clear why base_link wasn't used.

https://github.com/hello-robot/stretch_ros2/blob/b77baa164325d96e568a76527f21432802459b08/stretch_nav2/config/nav2_params.yaml#L9

Try using base_link instead and remove the base_link -> base_footprint transform if it is not needed.