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I got the same issue with the husky package I try to just add a tf_prefix "husky" in front of every link, seems working until I display everything in rviz The robot_description seems to be the issue, it doesn"t care about tf_prefix at all from all the xacro of husky.

My launcher looks like this for the moment, hope you got a solution

...
  <!-- HUSKY -->
  <group ns="husky">
  <param name="tf_prefix" value="husky" />
  <param name="robot_description" command="$(find xacro)/xacro '$(find erl_simulations)/models/husky.urdf.xacro'" />

  <include file="$(find erl_simulations)/launch/spawn_husky.launch">
    <arg name="x" value="-10.0"/>
    <arg name="y" value="-15.0"/>
  </include>
  </group>
...

I got the same issue with the husky package I try to just add a tf_prefix "husky" in front of every link, seems working until I display everything in rviz rviz

The robot_description seems to be the issue, it doesn"t doesn't care about tf_prefix at all from all the xacro of husky.

My launcher looks like this for the moment, hope you got a solution

...
  <!-- HUSKY -->
  <group ns="husky">
  <param name="tf_prefix" value="husky" />
  <param name="robot_description" command="$(find xacro)/xacro '$(find erl_simulations)/models/husky.urdf.xacro'" />

  <include file="$(find erl_simulations)/launch/spawn_husky.launch">
    <arg name="x" value="-10.0"/>
    <arg name="y" value="-15.0"/>
  </include>
  </group>
...