Iris: set base_link as mobile base in odometry publisher

Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Sep 17, 2023 · 8df6bd0 · 8df6bd0
1 parent 0830aa9
commit 8df6bd0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/models/iris_with_gimbal/model.sdf b/models/iris_with_gimbal/model.sdf
@@ -40,8 +40,8 @@
     <plugin
       filename="gz-sim-odometry-publisher-system"
       name="gz::sim::systems::OdometryPublisher">
-      <odom_frame>iris/odom</odom_frame>
-      <robot_base_frame>iris</robot_base_frame>
+      <odom_frame>odom</odom_frame>
+      <robot_base_frame>base_link</robot_base_frame>
       <dimensions>3</dimensions>
     </plugin>
     <plugin filename="gz-sim-lift-drag-system"