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:
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 frombase_footprint
tobase_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.