Create nav_base at Lexus CoG and Other Follow-ups from #208
Description
The mpc
controller would be more stable if a frame at the Center of Gravity of the Lexus existed in the URDF.
Definition of Done
-
Get location of Center of Gravity of Lexus with relation to base_link
#339 (comment 306694198) -
Modify URDF to add nav_base
link at this location !230 (merged) -
Verify with LG Sim the location on the vehicle that is used as the origin of the nav_msgs/Odometry
message that is being published to the ROS 2 bridge -
If it makes sense, mpc
apply thebase_link
->nav_base
transform to thenav_msgs/Odometry
data fromlgsvl_interface
Edited by Joshua Whitley