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Feature/base link urdf #105

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Merged
zbrotherton merged 21 commits into from
Apr 15, 2026
Merged

Feature/base link urdf #105

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7a4a403
Drafted 2d_lidar for rtabmap
rlj5 Mar 10, 2026
8d0c855
merge conflicts
rlj5 Mar 13, 2026
96c5a71
Merge branch 'develop' of https://github.com/RPI-IGVC-2025/RobotCode2…
rlj5 Mar 13, 2026
8c790d0
Fixed typo and added RGBD/FromDepth parameters
rlj5 Mar 14, 2026
9826905
Removed ODOM and edited parameters
rlj5 Mar 14, 2026
7926eba
Merge branch 'feature/rtab_2d_lidar' of https://github.com/RPI-IGVC-2…
rlj5 Mar 24, 2026
bf2faf3
Updating commit
rlj5 Mar 24, 2026
1f199a2
Drafted 2d_lidar for rtabmap
rlj5 Mar 10, 2026
c22dc68
merge conflicts
rlj5 Mar 13, 2026
5971f20
Fixed typo and added RGBD/FromDepth parameters
rlj5 Mar 14, 2026
578fa1a
Removed ODOM and edited parameters
rlj5 Mar 14, 2026
321ddac
Merge branch 'feature/rtab_2d_lidar' of https://github.com/RPI-IGVC-2…
rlj5 Mar 24, 2026
420d347
Draft of adding base_link
rlj5 Mar 27, 2026
1753063
Edited joint
rlj5 Mar 28, 2026
2f27175
Changed joint placement
rlj5 Mar 28, 2026
e56412c
Moved base_footprint children to be children of base_link
rlj5 Mar 31, 2026
84d7e23
Moved odom to be parent of base_link
rlj5 Mar 31, 2026
cfcd2b3
Changed sensor files instead of creating new joints
rlj5 Apr 4, 2026
e9b3dd7
Reverted lidar changes
rlj5 Apr 4, 2026
854d9d5
Changed base_footprint to base_link in parameters
rlj5 Apr 4, 2026
5742109
Changed frame id from base_footprint to base_link and changed /odom t…
rlj5 Apr 7, 2026
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2 changes: 1 addition & 1 deletion src/igvc_description/rviz/rviz_settings.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ Visualization Manager:
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_footprint
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
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10 changes: 9 additions & 1 deletion src/igvc_description/urdf/robot.urdf.xacro
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Expand Up @@ -4,14 +4,22 @@
<xacro:arg name="use_mock_hardware" default="false" />

<link name="base_footprint"/>
<link name="base_link"/>

<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<parent link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<child link="part_1"/>
<axis xyz="0 0 1"/>
</joint>

<joint name="footprint_joint" type="fixed">
<parent link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<child link="base_footprint"/>
<axis xyz="0 0 1"/>
</joint>

<xacro:include filename="$(find igvc_description)/urdf/model.urdf.xacro"/>
<xacro:include filename="$(find igvc_description)/urdf/sensors.urdf.xacro"/>

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2 changes: 1 addition & 1 deletion src/igvc_description/urdf/sensor/camera.urdf.xacro
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Expand Up @@ -14,7 +14,7 @@
<xacro:include filename="$(find depthai_descriptions)/urdf/depthai_descr.urdf.xacro" />

<joint name="camera_base_joint" type="fixed">
<parent link="base_footprint"/>
<parent link="base_link"/>
<child link="oak_parent"/>
<origin xyz="-0.05 -0.05 0.95" rpy="0 0 ${pi/2}"/>
</joint>
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2 changes: 1 addition & 1 deletion src/igvc_description/urdf/sensor/gps.urdf.xacro
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Expand Up @@ -2,7 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="navsat_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_footprint"/>
<parent link="base_link"/>
<child link="navsat_link" />
</joint>

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2 changes: 1 addition & 1 deletion src/igvc_description/urdf/sensor/imu.urdf.xacro
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Expand Up @@ -2,7 +2,7 @@
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="imu_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="base_footprint"/>
<parent link="base_link"/>
<child link="imu_link" />
</joint>

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2 changes: 1 addition & 1 deletion src/igvc_description/urdf/sensor/lidar.urdf.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="laser_joint" type="fixed">
<parent link="base_footprint"/>
<parent link="base_link"/>
<child link="laser_frame"/>
<origin xyz="-0.05 0.605 0.50" rpy="0 0 0"/>
</joint>
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2 changes: 1 addition & 1 deletion src/igvc_hardware/config/bot_controllers.yaml
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Expand Up @@ -31,7 +31,7 @@ bot_drive_controller:

publish_rate: 50.0 # Hz
odom_frame_id: odom
base_frame_id: base_footprint
base_frame_id: base_link

#TODO These need physical testing
pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
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4 changes: 2 additions & 2 deletions src/igvc_nav/config/nav2_params.yaml
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Expand Up @@ -2,7 +2,7 @@ bt_navigator:
ros__parameters:
global_frame: map
robot_base_frame: base_link
odom_topic: /odom
odom_topic: odom
bt_loop_duration: 10
default_server_timeout: 20
wait_for_service_timeout: 1000
Expand Down Expand Up @@ -313,7 +313,7 @@ velocity_smoother:

collision_monitor:
ros__parameters:
base_frame_id: "base_footprint"
base_frame_id: "base_link"
odom_frame_id: "odom"
cmd_vel_in_topic: "cmd_vel_smoothed"
cmd_vel_out_topic: "cmd_vel"
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4 changes: 2 additions & 2 deletions src/igvc_slam/launch/rtabmap.launch.py
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Expand Up @@ -38,9 +38,9 @@ def generate_launch_description():
'depth_topic' : '/camera/camera/aligned_depth_to_color/image_raw',
'rgb_topic' : '/camera/camera/color/image_raw',
'camera_info_topic' : '/camera/camera/color/camera_info',
'frame_id' : 'base_footprint',
'frame_id' : 'base_link',
'publish_tf_odom' : 'true',
'odom_topic' : '/odom',
'odom_topic' : 'odom',
'odom_frame_id' : 'odom',
'approx_sync' : 'true',
'rgbd_sync' : 'true',
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4 changes: 2 additions & 2 deletions src/igvc_slam/launch/sim_rtabmap.launch.py
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Expand Up @@ -21,10 +21,10 @@ def generate_launch_description():
'rgb_topic' : '/camera/camera/color/image_raw',
'camera_info_topic' : '/camera/camera/depth/camera_info',
'approx_sync' : 'true',
'frame_id' : 'base_footprint',
'frame_id' : 'base_link',
'log_level' : 'debug',
'publish_tf_odom' : 'true',
'odom_topic' : '/odom',
'odom_topic' : 'odom',
'odom_frame_id' : 'odom',
'sync_queue_size' : '10', #TODO verify
'topic_queue_size' : '10', #TODO verify
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