From 4c0887af165d51188cb1fc954564d14a05b46c35 Mon Sep 17 00:00:00 2001 From: "David V. Lu!!" Date: Tue, 15 Aug 2023 03:28:09 -0400 Subject: [PATCH] Update diff_drive_controller.yaml (#224) The wrong base frame is set. The name of the link in the URDF is chassis. (cherry picked from commit c915939bfc13a43b2ab0e30029725f6c8023f3ca) --- gazebo_ros2_control_demos/config/diff_drive_controller.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gazebo_ros2_control_demos/config/diff_drive_controller.yaml b/gazebo_ros2_control_demos/config/diff_drive_controller.yaml index d14a6e3f..52e49dc6 100644 --- a/gazebo_ros2_control_demos/config/diff_drive_controller.yaml +++ b/gazebo_ros2_control_demos/config/diff_drive_controller.yaml @@ -24,7 +24,7 @@ diff_drive_base_controller: publish_rate: 50.0 odom_frame_id: odom - base_frame_id: base_link + base_frame_id: chassis pose_covariance_diagonal : [0.001, 0.001, 0.0, 0.0, 0.0, 0.01] twist_covariance_diagonal: [0.001, 0.0, 0.0, 0.0, 0.0, 0.01]