Use base_footprint link as the tf base for slam & localization

turtlebot · Aug 21, 2024 · b883e16 · b883e16
1 parent fca2881
commit b883e16
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/turtlebot4_navigation/config/localization.yaml b/turtlebot4_navigation/config/localization.yaml
@@ -6,7 +6,7 @@ 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

diff --git a/turtlebot4_navigation/config/slam.yaml b/turtlebot4_navigation/config/slam.yaml
@@ -12,7 +12,7 @@ slam_toolbox:
     # ROS Parameters
     odom_frame: odom
     map_frame: map
-    base_frame: base_link
+    base_frame: base_footprint
     scan_topic: scan
     mode: mapping