fixing up for use

Author: SteveMacenski

nav2_min_tb4_description/urdf/standard/turtlebot4.urdf.xacro

@@ -46,6 +46,26 @@
     <origin xyz="0 0 ${shell_z_offset + base_link_z_offset}" rpy="0 0 0"/>
   </joint>
 
+  <!-- Add a base footprint definition -->
+  <joint name="base_footprint_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="base_footprint"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+  <link name="base_footprint">
+    <inertial>
+      <mass value="0.0001"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.001 0.001 0.001"/>
+      </geometry>
+    </visual>
+  </link>
+
   <!-- Turtlebot4 shell definition -->
   <link name="shell_link">
     <visual>

nav2_min_tb4_sim/launch/simulation.launch.py

@@ -125,7 +125,7 @@ def generate_launch_description():
     )
 
     declare_robot_name_cmd = DeclareLaunchArgument(
-        'robot_name', default_value='turtlebot3_waffle', description='name of the robot'
+        'robot_name', default_value='nav2_turtlebot4', description='name of the robot'
     )
 
     declare_robot_sdf_cmd = DeclareLaunchArgument(

nav2_min_tb4_sim/launch/spawn_tb4.launch.py

@@ -36,7 +36,7 @@ def generate_launch_description():
     use_simulator = LaunchConfiguration('use_simulator')
     robot_name = LaunchConfiguration('robot_name')
     robot_sdf = LaunchConfiguration('robot_sdf')
-    pose = {'x': LaunchConfiguration('x_pose', default='-2.00'),
+    pose = {'x': LaunchConfiguration('x_pose', default='-8.00'),
             'y': LaunchConfiguration('y_pose', default='-0.50'),
             'z': LaunchConfiguration('z_pose', default='0.01'),
             'R': LaunchConfiguration('roll', default='0.00'),
@@ -113,7 +113,7 @@ def generate_launch_description():
         arguments=[
             '-entity', robot_name,
             '-topic', 'robot_description',
-            # '-file', Command(['xacro', ' ', robot_sdf]), # TODO robot SDF file just unhappy.
+            # '-file', Command(['xacro', ' ', robot_sdf]), # TODO SDF file is unhappy, not sure why
             '-robot_namespace', namespace,
             '-x', pose['x'], '-y', pose['y'], '-z', pose['z'],
             '-R', pose['R'], '-P', pose['P'], '-Y', pose['Y']],