ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Hi Shawnysh,
As I think you are aware, the robot_state_publisher
is used to publish the state of the robot to tf. It publishes the transforms between the links as a function of the joint states.
The sendTransform is used to publish a transform from odom
to axis
, which happens to be the root frame of the robot. As you can see in the code, this is done such that axis
performs a circular motion around odom
. If you then choose odom
as your fixed frame (as noted in the last step for the linked tutorial) you will see the robot move around the origin. As robot_state_publisher
only publishes the transforms between the links, they are also updated for a moving 'base' frame (in this case: axis
).
Alternatively, if you would select axis
as your fixed frame, the robot will make the same motions, but not move in a circular pattern.
I hope that clears things up.