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ros-naoqi / pepper_robot

Meta-package for basic Pepper robot-related packages
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Reference frame for /cmd_vel? #24

Closed jokla closed 8 years ago

jokla commented 8 years ago

Hi!

Just a simple question, to which frame the velocities applied using the topic /cmd_vel are referred? I saw in the driver that is used the function ALMotionProxy::move(), so the velocites are expressed in the FRAME_ROBOT. Does it correspond to the ROS tf frame /base_footprint?

Thanks!

mikaelarguedas commented 8 years ago

Hi,

I think that the robot_frame is indeed supposed to correspond to /base_footrpint. (c.f. Aldebaran frame definition). I can't say for sure that those two frames will be strictly equivalent on all robots (especially for bipedal robots where base_footprint is the projection of base link on the ground). But if they're not strictly equivalent it should be close enough for most applications.

Hope this helps,

jokla commented 8 years ago

Thanks!