laser_frame not moving
I have the following scheme in simulation enviroment with Gazebo and Rviz: laser_frame -> base_link -> base_stabilized -> base_footprint -> odom -> map -> world
laser_frame to base_link is provided by robot_state_publisher looking up in the urdf file
base_link -> base_stabilized -> base_footprint -> odom is provided by a 'message_to_tf' node that takes ground_truth topic with z axis and rotation to publish this transformations
odom -> map is provided by a mapper node setting up the transforms in x-axis and y-axis
map -> world is provided by a node doing a static/fixed transform
In Rviz we have as fixed frame and target frame the /world frame. World is fixed, map is fixed refering to world, odom is moving in x,y,z and rotation refering to map BUT base_footprint, base_link and therefore laser_frame arent moving. They keep as they started.
How can I fix it? What am I missing?
Thanks
Are the "->" arrows here displaying parent->child arrows? If yes, are there maybe more frames? Then you'd have multiple parents and TF will do unpredictable stuff.
Yes, they are parent->child. There are any more frames, its the complete chain
Usually they are all the other way around. If it is exactly one chain it should work though. You can add a TF display and see if everything is connected.
Thanks for the reply @dornhege The tf chain was perfect. The problem is explained below. Feel free to ask if I havent explained well.
Can you @dornhege mark my answer as correct? I dont have karma > 25