From 10f88089e969d569f282c471ba37fd0742caa19c Mon Sep 17 00:00:00 2001
From: YuZhong-Chen <yuzhong1214@gmail.com>
Date: Thu, 23 Nov 2023 03:36:29 +0800
Subject: [PATCH] Change robot_base_frame in kobuki_gazebo.urdf.xacro file.

Signed-off-by: YuZhong-Chen <yuzhong1214@gmail.com>
---
 kobuki_description/urdf/kobuki_gazebo.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kobuki_description/urdf/kobuki_gazebo.urdf.xacro b/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
index 99bcea8a..a71bbc44 100644
--- a/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
+++ b/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
@@ -193,7 +193,7 @@
         <publish_wheel_tf>true</publish_wheel_tf>
         <odometry_topic>odom</odometry_topic>
         <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_link</robot_base_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
 	    </plugin>
 	  </gazebo>
   </xacro:macro>