로봇 제원

바퀴L x=0, y=171.95, z=53.5 ,바퀴R x=0, y=-171.95, z=53.5

IMU x=0, y=0, z=268.5

Lidar x=-113.924, y=0, z-295.169

바닥 ~ 1층 = 36.5 / 1층 ~ 2층 = 75 / 2층 ~ 3층 = 60 / 3층 ~ 4층 = 80 (판 두께는 3T)

• base_link → laser

<!-- Use static transform publisher because each frames doesn`t change through time-->
	<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="-0.114 0 0.242 0 0 0 base_link laser 10"/>

• base_footprint → base_link

<!-- base_link to imu_link will be provided by the iahrs_driver -->
	<node pkg="tf" type="static_transform_publisher" name="base_link_broadcaster" args="0 0 0.0535 0 0 0 base_footprint base_link 10"/>

추가로 move_base.launch code 수정함.

<!-- base_link to imu_link will be provided by the iahrs_driver -->
	<node pkg="tf" type="static_transform_publisher" name="base_link_broadcaster" args="0 0 0.0535 0 0 0 base_footprint base_link 10"/>