Revision history [back]

Loops in a tf setup generally point towards an error of your robot setup (for example having a fixed joint between head and laser_link in your URDF, but also having a static transform publisher running, publishing the same transform separately). In my years of using ROS on robots (including high number of DOF humanoid systems) this never occured (and if something similar occured, it was always due to a faulty robot setup). You might want to keep a close look on your tf_monitor output and see if the "source" switched between different nodes for your head->laser_link transform.

Loops in a tf setup generally point towards an error of your robot setup (for example having a fixed joint between head and laser_link in your URDF, but also having a static transform publisher running, publishing the same transform separately). In my years of using ROS on robots (including high number of DOF humanoid systems) this never occured (and if something similar occured, it was always due to a faulty robot setup). You might want to keep a close look on your tf_monitor output and see if the "source" switched switches between different nodes for the publisher of your head->laser_link transform.