I am trying to build a real time visualizer for my robot. I am using rviz to do this. When I move the robot the simulation model moves the same way. However, when I spin the robot through 0, it takes the "long way" to get there. it ends up in the right spot but it has to switch directions to do this. is there a way to make it do it does not switch directions but move thought the 0 point?

Here is my URDF file:

<?xml version="1.0"?>
<robot name="videoray">

  <link name="body">
    <inertial>
      <mass value="1"/>
      <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
      <origin/>
    </inertial>
    <visual>
      <origin rpy="0.0 0 0" xyz="0 0 0"/>
      <geometry>
         <mesh filename="file:///home/nathaniel/simulation/src/ros-videoray-sim/move_videoray/graphics/videoray_robot.stl"/> 
      </geometry>
    </visual>
  </link>

  <joint name="sonar_joint" type="fixed">
    <parent link="body" />
    <child link="sonar_link" />
  </joint>


  <link name="sonar_link">
    <inertial>
      <mass value="0.001" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
               iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
</robot>

and how I am publishing the node:

current.orientation.x = kalman_pos[5]
current.orientation.y = kalman_pos[4]*-1
current.orientation.z = kalman_pos[6]*-1
current.orientation.w = kalman_pos[7]

broadcaster.sendTransform( (current.position.x,current.position.y,current.position.z), 
                            (current.orientation.x,current.orientation.y,current.orientation.z,
                            current.orientation.w),
                            rospy.Time.now(), "body", "odom" )