Answer by tfoote for Hi,I have question, on odom and base_footprint,...
1. odom is an inertial frame defined in [REP 105](http://www.ros.org/reps/rep-0105.html) It can be initialized anywhere in any orientation, but for ease of use usually it's x forward y left z up under...
View ArticleComment by Kei Okada for Dear Okasa-san,as for mobile robots, every frames on...
Another question is that , the orientation of the the robot is not precisely equal to (0 0 1), as there are elastic material on the sole and ankle, also mechanical backlash, in that case, does...
View ArticleComment by Kei Okada for Dear Okasa-san,as for mobile robots, every frames on...
Thanks, so what is the tf structure ? map -> odom -> robot_pose_ekl -> base_link -> base_footprint?
View ArticleComment by Thomas for Dear Okasa-san,as for mobile robots, every frames on...
The `base_footprint` rotational part is undefined in the current state of the REP. IMHO this is not the best frame to express contacts so I would keep the rotational part to identity if I were you....
View ArticleComment by Thomas for Dear Okasa-san,as for mobile robots, every frames on...
The frame hiearchy is here: http://www.ros.org/reps/rep-0120.html#id17 and http://www.ros.org/reps/rep-0105.html#relationship-between-frames I.e. map -> odom -> base_link -> base_footprint You...
View ArticleAnswer by Thomas for Hi,I have question, on odom and base_footprint,...
Dear Okasa-san, as for mobile robots, every frames on top of `base_link` are actively relying on the localization / SLAM node and therefore the result you will obtain will depend in these particular...
View ArticleREP 120: not clear about odom and base_footprint
Hi, I have question, on odom and base_footprint, especially when the robot is falling down or 4-legged walking in [REP 120](http://www.ros.org/reps/rep-0120.html). I assume that humanoid robot did not...
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