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update base_frame #30

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update base_frame #30

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2 changes: 1 addition & 1 deletion include/diff_drive_controller/DiffDriveParameters.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ constexpr auto DEFAULT_LEFT_CONFIG_FILE = "/opt/ezw/usr/etc/ezw-smc-core/swd_lef
constexpr auto DEFAULT_RIGHT_CONFIG_FILE = "/opt/ezw/usr/etc/ezw-smc-core/swd_right_config.ini";
constexpr auto DEFAULT_PUB_FREQ_HZ = 20;
constexpr auto DEFAULT_WATCHDOG_RECEIVE_MS = 500;
constexpr auto DEFAULT_BASE_FRAME = "base_link";
constexpr auto DEFAULT_BASE_FRAME = "base_footprint";
constexpr auto DEFAULT_ODOM_FRAME = "odom";
constexpr auto DEFAULT_PUBLISH_ODOM = true;
constexpr auto DEFAULT_PUBLISH_TF = true;
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2 changes: 1 addition & 1 deletion launch/swd_diff_drive_controller.launch.py
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Expand Up @@ -46,7 +46,7 @@ def generate_launch_description():
{"right_swd_config_file": "/opt/ezw/usr/etc/ezw-smc-core/swd_right_config.ini"},
{"pub_freq_hz": 20},
{"watchdog_receive_ms": 500},
{"base_frame": "base_link"},
{"base_frame": "base_footprint"},
{"odom_frame": "odom"},
{"publish_odom": True},
{"publish_tf": True},
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