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_lidar/config/lidar.yaml
+++ b/mg_lidar/config/lidar.yaml
@@ -1,4 +1,4 @@
 rplidar_node:
  ros__parameters:
    scan_mode: "ppbig"
-    topic_name: "base-link"
+    topic_name: "base_link"
--- a/mg_lidar/src/scanner.cpp
+++ b/mg_lidar/src/scanner.cpp
@@ -54,7 +54,7 @@ class MgScanner : public rclcpp::Node {
            double y   = NAN;
            double rot = NAN;

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

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