Add documentation about the different base and base_link frames (backport #286) #289
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There are three different frames in the robot's base. They all represent different aspects and have their respective right to be there, but that lead to a lot of confusion on the users' side. This documentation should hopefully help reducing that confusion. --------- Co-authored-by: G.A. vd. Hoorn <[email protected]> Co-authored-by: Mads Holm Peters <[email protected]> (cherry picked from commit e481eff)
urfeex
approved these changes
May 13, 2025
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This is basically a documentation-only attempt on the issue that the meaning of the different frames isn't completely obvious to every user. This isn't changing anything about the URDF as #282 and #283 attempt to do, but only documents the state and the reasons why things are the way they are.
@gavanderhoorn I hope, I summarized your comments well enough.
Personally, I would prefer #283, but I do understand that there are cases where this additional frame is needed. Hence this PR as a non-changing alternative.
This is an automatic backport of pull request #286 done by Mergify.