a

robomaster_pi/robot_ros_odom_wifi.py

@@ -57,7 +57,7 @@ class Robomaster_odom(Node):
             t = TransformStamped()
             t.header.stamp = self.get_clock().now().to_msg()
             t.header.frame_id = 'odom'
-            t.child_frame_id = "base_footprint"
+            t.child_frame_id = "base_link"
             t.transform.translation.x = float(xyzlist[0])
             t.transform.translation.y = float(xyzlist[1])
             t.transform.translation.z = 0.0