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kobuki-base / kobuki_ros

ROS2 runtime libraries, nodes and launchers for the Kobuki
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Change robot_base_frame in kobuki_gazebo.urdf.xacro file. #49

Open YuZhong-Chen opened 9 months ago

YuZhong-Chen commented 9 months ago

Before the fix, the tf tree should look like base_footprint -> base_link -> ... When simulating Kobuki using Gazebo, the plugin would publish: odom -> base_link This caused an error in the transform from base_footprint to base_link since one link could only have one parent.

To prevent the Gazebo plugin (diff-drive) from publishing odom -> base_link, we should modify the configuration in the URDF.

If you ever encounter points of confusion or have any questions, please feel free to discuss them with me. :smile: