Set base frame to base_footprint (not base_link)

Author: Enrique Fernandez

chapter7_tutorials/robot1_description/urdf/robot1_base_04.xacro

@@ -242,7 +242,7 @@
     <rightRearJoint>base_to_wheel4</rightRearJoint>
     <wheelSeparation>4</wheelSeparation>
     <wheelDiameter>0.1</wheelDiameter>
-    <robotBaseFrame>base_link</robotBaseFrame>
+    <robotBaseFrame>base_footprint</robotBaseFrame>
     <torque>1</torque>
     <topicName>cmd_vel</topicName>
     <broadcastTF>0</broadcastTF>