From: Erik Andresen <erik@vontaene.de>
Date: Tue, 13 Oct 2026 16:44:23 +0000 (+0200)
Subject: use base_footprint as parent
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=03f392306a939f47bf9437ea2d8203bae161f2e9;p=a4wd3.git

use base_footprint as parent
---

diff --git a/launch/a4wd3_launch.py b/launch/a4wd3_launch.py
index 88eab0c..c427a87 100644
--- a/launch/a4wd3_launch.py
+++ b/launch/a4wd3_launch.py
@@ -34,7 +34,7 @@ def generate_launch_description():
            'mode': slam_mode,
            'map_start_at_dock': True,
 	   'max_laser_range': 16.0,
-	   'base_frame': 'base_link',
+	   'base_frame': 'base_footprint',
        }],
        namespace='',
        condition=IfCondition(with_nav)
diff --git a/params/nav2_params.yaml b/params/nav2_params.yaml
index c4994f5..874199c 100644
--- a/params/nav2_params.yaml
+++ b/params/nav2_params.yaml
@@ -5,7 +5,7 @@ amcl:
     alpha3: 0.2
     alpha4: 0.2
     alpha5: 0.2
-    base_frame_id: "base_link"
+    base_frame_id: "base_footprint"
     beam_skip_distance: 0.5
     beam_skip_error_threshold: 0.9
     beam_skip_threshold: 0.3
@@ -41,7 +41,7 @@ amcl:
 bt_navigator:
   ros__parameters:
     global_frame: map
-    robot_base_frame: base_link
+    robot_base_frame: base_footprint
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
@@ -191,7 +191,7 @@ local_costmap:
       update_frequency: 5.0
       publish_frequency: 2.0
       global_frame: odom
-      robot_base_frame: base_link
+      robot_base_frame: base_footprint
       rolling_window: true
       width: 3
       height: 3
@@ -227,7 +227,7 @@ global_costmap:
       update_frequency: 1.0
       publish_frequency: 1.0
       global_frame: map
-      robot_base_frame: base_link
+      robot_base_frame: base_footprint
       robot_radius: 0.28
       resolution: 0.05
       track_unknown_space: true
@@ -309,7 +309,7 @@ behavior_server:
       plugin: "nav2_behaviors::AssistedTeleop"
     local_frame: odom
     global_frame: map
-    robot_base_frame: base_link
+    robot_base_frame: base_footprint
     transform_tolerance: 0.1
     simulate_ahead_time: 2.0
     max_rotational_vel: 1.0
@@ -367,7 +367,7 @@ velocity_smoother:
 
 collision_monitor:
   ros__parameters:
-    base_frame_id: "base_link"
+    base_frame_id: "base_footprint"
     odom_frame_id: "odom"
     cmd_vel_in_topic: "cmd_vel_smoothed"
     cmd_vel_out_topic: "cmd_vel"
@@ -405,7 +405,7 @@ docking_server:
     undock_linear_tolerance: 0.05
     undock_angular_tolerance: 0.1
     max_retries: 3
-    base_frame: "base_link"
+    base_frame: "base_footprint"
     fixed_frame: "odom"
     dock_backwards: false
     dock_prestaging_tolerance: 0.5
@@ -451,7 +451,7 @@ docking_server:
 
 loopback_simulator:
   ros__parameters:
-    base_frame_id: "base_link"
+    base_frame_id: "base_footprint"
     odom_frame_id: "odom"
     map_frame_id: "map"
     scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
diff --git a/params/robot_localization.yaml b/params/robot_localization.yaml
index 895641c..8639378 100644
--- a/params/robot_localization.yaml
+++ b/params/robot_localization.yaml
@@ -68,7 +68,7 @@ ekf_filter_node:
         #         estimation node from robot_localization! However, that instance should *not* fuse the global data.
         map_frame: map              # Defaults to "map" if unspecified
         odom_frame: odom            # Defaults to "odom" if unspecified
-        base_link_frame: base_link  # Defaults to "base_link" if unspecified
+        base_link_frame: base_footprint  # Defaults to "base_link" if unspecified
         world_frame: odom           # Defaults to the value of odom_frame if unspecified
 
         # The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
diff --git a/urdf/a4wd3.urdf b/urdf/a4wd3.urdf
index 16effb6..9bb31b8 100644
--- a/urdf/a4wd3.urdf
+++ b/urdf/a4wd3.urdf
@@ -54,10 +54,10 @@
        Child of base_link (NOT parent): hw_node publishes /odom with child_frame_id
        base_link and the EKF broadcasts odom->base_link, so base_link must stay the
        odometry-attached frame; the footprint hangs 79 mm below it. -->
-  <joint name="base_link_to_base_footprint" type="fixed">
-    <parent link="base_link"/>
-    <child link="base_footprint"/>
-    <origin xyz="0 0 -0.079" rpy="0 0 0"/>
+  <joint name="base_footprint_to_base_link" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0.079" rpy="0 0 0"/>
   </joint>
   <link name="base_footprint">
     <visual>