From 6222eb2fc44d7b5cb197403617477346a92f420e Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 14 Sep 2022 16:03:46 +0900 Subject: [PATCH] docs(autoware-interfaces): fix description of base link (#164) * docs(autoware-interfaces): fix description of base link Signed-off-by: Takagi, Isamu * Update docs/design/autoware-interfaces/components/vehicle-dimensions.md Signed-off-by: Lalith Vipulananthan Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Signed-off-by: Takagi, Isamu Co-authored-by: Lalith Vipulananthan Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> --- .../design/autoware-interfaces/components/vehicle-dimensions.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/components/vehicle-dimensions.md b/docs/design/autoware-interfaces/components/vehicle-dimensions.md index 12171be3ce0..70677c6a300 100644 --- a/docs/design/autoware-interfaces/components/vehicle-dimensions.md +++ b/docs/design/autoware-interfaces/components/vehicle-dimensions.md @@ -4,7 +4,7 @@ ![Vehicle Axes](images/vehicle_axes.svg){: style="width:500px"} -The `base_link` frame is used very frequently throughout the stack, and is in the center of the rear axle. +The `base_link` frame is used very frequently throughout the Autoware stack, and is a projection of the rear-axle center onto the ground surface. - Localization module outputs the `map` to `base_link` transformation. - Planning module plans the poses for where the `base_link` frame should be in the future.