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base frame for URDF, SRDF, Gazebo #68

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jacknlliu opened this issue Dec 5, 2018 · 0 comments
Open

base frame for URDF, SRDF, Gazebo #68

jacknlliu opened this issue Dec 5, 2018 · 0 comments

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@jacknlliu
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jacknlliu commented Dec 5, 2018 •
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Gazebo needs world frame and MoveIt need a virtual fixed joint with a link.

The urdf of an industrial robot needs a base frame.

base_link of ROS-I: The base_link shall be positioned in the logical base position (oriented by convention, z-axis up, x-axis forward). This frame name is by ROS convention. Typically this frame is the first frame of the robot tied to the first link.

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