difference between base link and base foot print?
Hi @Dharankumar ,
Welcome to this Community!
The base_link
is usually the chassis or body of a robot that is immediately attached to the ground or world reference frame. The origin of the base_link
is usually the geometric center of the whole part of the robot.
The base_footprint
is a reference frame that acts as a parent link to the base_link
. The base_footprint
is commonly used for mobile robots for navigation purpose and the odom
frame refers to this base_footprint
to locate the robot on the world
frame.
The base_footprint
is the geometric center of the bottom surface that is immediately facing the ground.
So, if you consider a simple robot with a wide cylindrical body, 2 drive wheels and 1 caster wheel,
base_link
is at the 3 dimensional center of the robot cylinder body, whereas the base_footprint
is at the 2 dimensional center of the surface of the cylindrical body that is facing the ground, immediately above the ground - which is under the robot.
I hope this clarifies your doubt.
Regards,
Girish
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