Remove the base_link->base_footprint transform

[hello-binit]

The driver publishes a transform from base_link to base_footprint, but the transform is always an identity.

stretch_ros2/stretch_core/stretch_core/stretch_driver.py

Lines 233 to 244 in b77baa1

	b = TransformStamped()
	b.header.stamp = current_time
	b.header.frame_id = self.base_frame_id
	b.child_frame_id = "base_footprint"
	b.transform.translation.x = 0.0
	b.transform.translation.y = 0.0
	b.transform.translation.z = 0.0
	b.transform.rotation.x = 0.0
	b.transform.rotation.y = 0.0
	b.transform.rotation.z = 0.0
	b.transform.rotation.w = 1.0
	self.tf_broadcaster.sendTransform(b)

The Nav 2 AMCL base_frame_id parameter is set to the base_footprint link, but it's not clear why base_link wasn't used.

stretch_ros2/stretch_nav2/config/nav2_params.yaml

Line 9 in b77baa1

base_frame_id: "base_footprint"

Try using base_link instead and remove the base_link -> base_footprint transform if it is not needed.