So I have a urdf for my robot, with the tree root as `base_link`.
However, I am using `robot_pose_ekf`, which has a hard-coded transform for `base_footprint`. Assuming a simple square `base_footprint`, should I make it the root:
base_footprint
base_link ... rest of model
EDIT:
After adding a base_footprint link and joint to base_link:
robot name is: Thumperbot_Simplistic
---------- Successfully Parsed XML ---------------
root Link: base_footprint has 1 child(ren)
child(1): base_link
I still get the following error:
Node: /robot_pose_ekf
Time: 12:35:35.441279569 (2014-09-16)
Severity: Debug
Published Topics: /robot_pose_ekf/odom_combined, /rosout, /tf
Could not transform imu message from base_link to base_footprint. Imu will not be activated yet.
Location:
/tmp/buildd/ros-indigo-robot-pose-ekf-1.11.11-0trusty-20140805-0105/src/odom_estimation_node.cpp:OdomEstimationNode::imuCallback:234
----------------------------------------------------------------------------------------------------
Perhaps it is not receiving my urdf that have in the launchfile? Here is the launchfile:
odom_used: false
imu_used: true
vo_used: true
debug: true
self_dignose: true
↧