Added new robot descriptions for Robotoid

2026-01-05 00:32:35 +01:00
parent 7da27e4cb8
commit b724a7a679
17 changed files with 243 additions and 18 deletions
--- a/mg_bt/src/mg_tree_executor.cpp
+++ b/mg_bt/src/mg_tree_executor.cpp
@@ -37,7 +37,7 @@ namespace mg {
        double    theta;
        glm::vec2 pos;

-        auto tmsg = tf_buffer_->lookupTransform("odom", "base-link", tf2::TimePointZero);
+        auto tmsg = tf_buffer_->lookupTransform("odom", "base_footprint", tf2::TimePointZero);

        tf2::Transform t;
        tf2::convert(tmsg.transform, t);