Remove the base_footprint visualization

turtlebot · Aug 6, 2024 · fca2881 · fca2881
1 parent 7240424
commit fca2881
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Showing 2 changed files with 2 additions and 20 deletions.
diff --git a/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
@@ -35,16 +35,7 @@
   </xacro:oakd>
 
   <!-- Base footprint for navigation -->
-  <link name="base_footprint">
-    <visual>
-      <geometry>
-        <cylinder length="0.001" radius="${0.335/2}"/>
-      </geometry>
-      <material name="dark_grey">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
+  <link name="base_footprint" />
   <joint name="base_footprint_joint" type="fixed">
     <!-- Create3's base_link is already on the ground -->
     <origin xyz="0 0 0" rpy="0 0 0" />

diff --git a/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
@@ -125,16 +125,7 @@
   </xacro:oakd>
 
   <!-- Base footprint for navigation -->
-  <link name="base_footprint">
-    <visual>
-      <geometry>
-        <cylinder length="0.001" radius="${0.335/2}"/>
-      </geometry>
-      <material name="dark_grey">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
+  <link name="base_footprint" />
   <joint name="base_footprint_joint" type="fixed">
     <!-- Create3's base_link is already on the ground -->
     <origin xyz="0 0 0" rpy="0 0 0" />