Add base_footprint. Remove old odometry dependency

package.xml

@@ -42,7 +42,6 @@
   <run_depend>gazebo_ros</run_depend>
   <run_depend>gazebo_plugins</run_depend>
   <run_depend>hector_gazebo_plugins</run_depend>
-  <run_depend>odometry</run_depend> <!-- from https://github.com/AutoModelCar/model_car/tree/version-3 -->
   <run_depend>imu_filter_madgwick</run_depend>
 
   <!-- Use test_depend for packages you need only for testing: -->

urdf/include/platform.gazebo

@@ -51,7 +51,7 @@
   <gazebo>
     <plugin name="model_car_ground_truth" filename="libgazebo_ros_p3d.so">
       <frameName>map</frameName>
-      <bodyName>base_link</bodyName>
+      <bodyName>base_footprint</bodyName>
       <topicName>odom_ground_truth</topicName>
       <updateRate>30.0</updateRate>
     </plugin>

urdf/include/platform.xacro

@@ -7,7 +7,18 @@
 
   <xacro:property name="PI" value="3.1415926535897931" />
   <xacro:property name="angle_limit" value="${PI/3.0}" />
+  <xacro:property name="wheel_radius" value="0.05" />
+  
 
+  <link name="base_footprint">
+  </link>
+  
+  <joint name="base_footprint_to_base_link" type="fixed">
+    <origin xyz="0.0 0.0 ${wheel_radius}" rpy="0 0 0" />
+    <parent link="base_footprint" />
+    <child link="base_link" />
+  </joint>
+  
   <link name="base_link">
     <inertial>
       <mass value="0.001" />
@@ -50,12 +61,12 @@
   <!-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ WHEELS ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -->
   <!-- ======= REAR LEFT ======= -->
   <xacro:wheel name="rear_left" parent="base_link" direction="1.0">
-    <origin xyz="0 0.108 0" rpy="1.5707 0 3.14159" />
+    <origin xyz="0 0.108 0" rpy="${PI/2.0} 0 ${PI}" />
   </xacro:wheel>
 
   <!-- ======= REAR RIGHT ======= -->
   <xacro:wheel name="rear_right" parent="base_link" direction="-1.0">
-    <origin xyz="0 -0.108 0" rpy="1.5707 0 0" />
+    <origin xyz="0 -0.108 0" rpy="${PI/2.0} 0 0" />
   </xacro:wheel>
 
   <link name="steer_left">
@@ -91,7 +102,7 @@
 
   <!-- ======= FRONT LEFT ======= -->
   <xacro:wheel name="front_left" parent="steer_left" direction="1.0">
-    <origin xyz="0.0 0.0 0" rpy="1.5707 0 3.14159" />
+    <origin xyz="0.0 0.0 0" rpy="${PI/2.0} 0 ${PI}" />
   </xacro:wheel>
 
   <link name="steer_right">
@@ -127,7 +138,7 @@
 
   <!-- ======= FRONT RIGHT ======= -->
   <xacro:wheel name="front_right" parent="steer_right" direction="-1.0">
-    <origin xyz="0.0 0.0 0" rpy="1.5707 0 0" />
+    <origin xyz="0.0 0.0 0" rpy="${PI/2.0} 0 0" />
   </xacro:wheel>
 
 </robot>