Welcome to |project|'s documentation! ================================================ Description ----------- |description| The base_footprint is used as a frame for navigation. It represents the position and orientation of the whole robot. A more elaborate description of this concept is described in REP120_. Subscriptions ~~~~~~~~~~~~~ ``/walk_support_state`` -- std_msgs/Char ``/dynamic_kick_support_state`` -- std_msgs/Char Publishes ~~~~~~~~~ nothing TFs ~~~ ``base_link`` --> ``base_footprint`` .. _REP120: https://www.ros.org/reps/rep-0120.html#base-footprint .. toctree:: :maxdepth: 2 cppapi/library_root pyapi/modules Indices and tables ================== * :ref:`genindex` * |modindex| * :ref:`search`