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_planner/src/mg_planner_node.cpp
+++ b/mg_planner/src/mg_planner_node.cpp
@@ -51,7 +51,7 @@ mg::PlannerNode::PlannerNode() : Node("planner"), astar_(this) {

 glm::ivec2 mg::PlannerNode::get_pos() {
    try {
-        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);