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POST No. 2407587
Problems about the static transform of Burger
2019-09-12 02:50:30 vkea95

Hi, 

I just upgraded the TurtleBot3 Burger because of its low the Chassis. But I have another problem that the navigation function doesn't work well. According to the google search, I need to modify the robot description or create a static transform. Could you give some hints that I can fix this problem?

Attached is the upgraded TurtleBot3

 

Thanks Jian



 

2019-09-12 02:50:30
vkea95
2019-09-17 11:16:32 Will Son

Hi Jian,


I'm sorry for the late response due to Thanksgiving holiday.

The robot description file(URDF) describes the structure of the robot by defining the location and position of every component on the robot.

You have not only changed the height, but also modified the wheel position and IMU sensor on OpenCR1.0.

Therefore, you'll need to moderately rewrite the description file based on the turtlebot3_burger.urdf.xacro file.

Please refer to the URDF tutorials below.

http://wiki.ros.org/urdf/Tutorials 


Thank you.

comment
2019-09-20 03:50:49 vkea95
Hi Willson,

Thanks for your reply. I have another question. How can I verify the modified xacro file in rviz in given Turtlebot3 packages?

Thanks
2019-09-20 03:50:49
vkea95
2019-09-23 11:50:14 willson
Hi,

Since URDF is a standard format for ROS, you should learn it from the wiki page that I linked above.
Thank you.
2019-09-23 11:50:14
willson
2019-09-17 11:16:32
willson
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