From 5ab0bdc9b08d434c585456592a9a8e4f383dc864 Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <civerachb@clearpathrobotics.com>
Date: Fri, 2 Aug 2024 13:16:54 -0400
Subject: [PATCH] Add base_footprint link with a simple circle visualization
 for Rviz

---
 .../urdf/lite/turtlebot4.urdf.xacro            | 18 ++++++++++++++++++
 .../urdf/standard/turtlebot4.urdf.xacro        | 17 +++++++++++++++++
 2 files changed, 35 insertions(+)

diff --git a/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
index 5de1406..481be0a 100644
--- a/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
+++ b/turtlebot4_description/urdf/lite/turtlebot4.urdf.xacro
@@ -33,4 +33,22 @@
   <xacro:oakd model="lite" parent_link="oakd_camera_bracket">
     <origin xyz="${oakd_lite_x_offset} ${oakd_lite_y_offset} ${oakd_lite_z_offset}"/>
   </xacro:oakd>
+
+  <!-- Base footprint for navigation -->
+  <link name="base_footprint">
+    <visual>
+      <geometry>
+        <cylinder length="0.001" radius="${0.335/2}"/>
+      </geometry>
+      <material name="dark_grey">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="base_footprint_joint" type="fixed">
+    <!-- Create3's base_link is already on the ground -->
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="base_footprint" />
+  </joint>
 </robot>
diff --git a/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro b/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
index a9ddf98..c63d35c 100644
--- a/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
+++ b/turtlebot4_description/urdf/standard/turtlebot4.urdf.xacro
@@ -124,4 +124,21 @@
     <origin xyz="${oakd_pro_x_offset} ${oakd_pro_y_offset} ${oakd_pro_z_offset}"/>
   </xacro:oakd>
 
+  <!-- Base footprint for navigation -->
+  <link name="base_footprint">
+    <visual>
+      <geometry>
+        <cylinder length="0.001" radius="${0.335/2}"/>
+      </geometry>
+      <material name="dark_grey">
+        <color rgba="0.1 0.1 0.1 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="base_footprint_joint" type="fixed">
+    <!-- Create3's base_link is already on the ground -->
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="base_footprint" />
+  </joint>
 </robot>