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_navigation/include/handlers/dwa_core.hpp
+++ b/mg_navigation/include/handlers/dwa_core.hpp
@@ -152,7 +152,7 @@ namespace mg {
            double x = NAN;
            double y = NAN;

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

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