Updating a transform does update my robot model in Rviz but not the scene robot visual or the query start state
Hi,
i have been struggling a few hours on a small detail. I am playing with the xArm7 robotic arms from ufactory, and i am using this package basically: https://github.com/xArm-Developer/xar...
In parallel i have a node of my own where i just want to develop a basic API. First i want to put the robot on a table, there is multiple ways of doing so i know. I dont want to touch the urdf or xarm7_moveit_config package for now so i though i would either do it in the launch file like so:
<node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0.77 0 0 0 world link_base" />
or in my c++ node:
transformStamped.header.frame_id = "world";
transformStamped.child_frame_id = "link_base";
transformStamped.transform.translation.x = 0.0;
transformStamped.transform.translation.y = 0.0;
transformStamped.transform.translation.z = 0.77;
transformStamped.transform.rotation.x = 0;
transformStamped.transform.rotation.y = 0;
transformStamped.transform.rotation.z = 0;
transformStamped.transform.rotation.w = 1;
transformStamped.header.stamp = ros::Time::now();
stfb.sendTransform(transformStamped);
Both solutions update the TF and my robot model in Rviz, but however the query start state and the scene robot visual are not translated. So it looks like my arm model got cloned in Rviz. As i just created this account i cannot post images sorry about that. I am used to play with TF and robots in general, however its the first time i encounter this problem and i cant find the reason. Anyone can help me on this? Thanks in advance,
